unify parent-child relative tranformations

src/lib/Physics.js

@@ -32,27 +32,31 @@ class Physics{
 
     add = (mesh, rigidBodyType, autoAnimate = true, postPhysicsFn, colliderType, colliderSettings = {}) => {
         const rigidBodyDesc = RAPIER.RigidBodyDesc[rigidBodyType]()
-        let position, quaternion, scale = new Vector3(1,1,1);
+        let position, quaternion, scale;
         // if (colliderSettings.root){
         //     // mesh.getWorldPosition(position = new Vector3());
         //     // mesh.getWorldQuaternion(quaternion = new Quaternion());
         //     position = colliderSettings.root.position;
         //     quaternion = colliderSettings.root.quaternion;
         // }else{
-            position = mesh.position;
+            position = mesh?.position?.clone();
-            quaternion = mesh.quaternion;
+            quaternion = mesh?.quaternion?.clone();
+            scale = mesh?.scale?.clone();
         //}
 
         if (colliderSettings.root){
+            mesh.updateWorldMatrix(true);
             let p = mesh;
-            while (p != colliderSettings.root.parent) {
+            let m = p.matrix.clone();
-                scale.multiply(p.scale);
+            while (p != colliderSettings.root) {
                 p = p.parent;
+                m.premultiply(p.matrix)
             }
+            m.decompose(position, quaternion, scale)
         }
 
-        rigidBodyDesc.setTranslation(position.x, position.y, position.z)
+        rigidBodyDesc.setTranslation(mesh.position.x, mesh.position.y, mesh.position.z)
-        quaternion && rigidBodyDesc.setRotation(quaternion)
+        mesh.quaternion && rigidBodyDesc.setRotation(mesh.quaternion)
 
         // * Responsible for collision response
         const rigidBody = this.world.createRigidBody(rigidBodyDesc)
@@ -84,8 +88,8 @@ class Physics{
                 const vertex = new Vector3();
                 const position = mesh.geometry.getAttribute( 'position' );
                 for ( let i = 0; i < position.count; i ++ ) {
-                    vertex.fromBufferAttribute( position, i );
+                    vertex.fromBufferAttribute( position, i ).multiply(scale);
-                    vertices.push( vertex.x * scale.x, vertex.y * scale.x, vertex.z * scale.x );
+                    vertices.push( vertex.x, vertex.y, vertex.z );
                 }
 
                 // if the buffer is non-indexed, generate an index buffer
@@ -110,8 +114,8 @@ class Physics{
         // * Responsible for collision detection
         const collider = this.world.createCollider(colliderDesc, rigidBody)
         if (colliderSettings.root){
-            collider.setTranslationWrtParent(colliderSettings.root.position)
+            collider.setTranslationWrtParent(position)
-            collider.setRotationWrtParent(colliderSettings.root.quaternion)
+            collider.setRotationWrtParent(quaternion)
             //console.log(colliderSettings.root.position, mesh.position)
         }
         const physicsObject = { mesh, collider, rigidBody, fn: postPhysicsFn, autoAnimate }