Basic lelel import working, collisions for level geo broken

assets/blender/test_level_blend/Scene.scn

@@ -1,50 +1,45 @@
 (inst
 	:model "assets/blender/testblend_blend/Bakery.glb"
-	:pos (0.000000 12.000000 0.000000) 
+	:pos (0.000000 0.000000 12.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/test_level_blend/Plane.glb"
-	:pos (0.000000 0.000000 0.000000) 
+	:pos (0.000000 -1.000000 0.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (22.469545 22.469545 22.469545))
 (inst
 	:model "assets/blender/testblend_blend/Fire_Station.glb"
-	:pos (9.000000 13.000000 0.000000) 
+	:pos (9.000000 0.000000 13.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/testblend_blend/Gas_Station_Shop.glb"
-	:pos (-8.000000 11.000000 0.000000) 
+	:pos (-8.000000 0.000000 11.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/testblend_blend/Gas_Station_Shop.glb"
-	:pos (-16.000000 11.000000 0.000000) 
+	:pos (-16.000000 0.000000 11.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/testblend_blend/Gas_Station_Shop.glb"
-	:pos (-15.559284 0.259853 1.609015) 
+	:pos (-15.559284 1.609015 0.259853)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/testblend_blend/Green_House.glb"
-	:pos (14.000000 -7.000000 0.000000) 
+	:pos (14.000000 0.000000 -7.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/testblend_blend/Hotel.glb"
-	:pos (8.000000 -18.000000 0.000000) 
+	:pos (8.000000 0.000000 -18.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
 	:scale (1.000000 1.000000 1.000000))
 (inst
 	:model "assets/blender/test_level_blend/NurbsPath.glb"
-	:pos (0.000000 0.000000 0.000000) 
+	:pos (0.000000 0.000000 0.000000)
-	:rot (0.000000 0.000000 0.000000 1.000000) 
+	:rot (0.000000 0.000000 0.000000 1.000000)
-	:scale (1.000000 1.000000 1.000000))
-(inst
-	:model "assets/blender/ice_cream_truck_blend/Split.glb"
-	:pos (-1.000000 3.000000 0.000000) 
-	:rot (0.000000 0.000000 0.000000 1.000000) 
 	:scale (1.000000 1.000000 1.000000))

blender/batch_export.py

@@ -70,8 +70,8 @@ for obj in visible_objects:
     instance_sexpr = (
         '(inst'
         f'\n\t:model "assets/{model_path}"'
-        f'\n\t:pos ({loc.x:.6f} {loc.y:.6f} {loc.z:.6f}) '
+        f'\n\t:pos ({loc.x:.6f} {loc.z:.6f} {loc.y:.6f})'
-        f'\n\t:rot ({rot.x:.6f} {rot.y:.6f} {rot.z:.6f} {rot.w:.6f}) '
+        f'\n\t:rot ({rot.x:.6f} {rot.y:.6f} {rot.z:.6f} {rot.w:.6f})'
         f'\n\t:scale ({scale.x:.6f} {scale.y:.6f} {scale.z:.6f}))'
     )
     instances.append(instance_sexpr)

common/encoding/sexp/sexp.odin

@@ -4,6 +4,7 @@ import "common:name"
 import "core:container/intrusive/list"
 import "core:fmt"
 import "core:io"
+import "core:strconv"
 import "core:strings"
 import "core:testing"
 import "core:unicode"
@@ -151,7 +152,13 @@ parse_atom :: proc(ctx: ^SEXP_Parser) -> (atom: Atom, error: Error) {
 		result := ctx.data[start:ctx.pos]
 		ctx.pos = next
 		return result, nil
-
+	case '0' ..= '9', '-', '+':
+		value, n, ok := strconv.parse_f64_prefix(ctx.data[ctx.pos:])
+		if !ok {
+			return nil, make_error(ctx, "failed to parse number")
+		}
+		ctx.pos += n
+		return value, nil
 	}
 
 	return nil, make_error(ctx, fmt.tprintf("unknown atom {}", c))
@@ -233,6 +240,43 @@ iterator_next_checked :: proc(it: ^List_Iterator) -> Sexp {
 	return node.expr
 }
 
+iterator_has_more :: proc(it: List_Iterator) -> bool {
+	return it.curr != nil
+}
+
+iterator_expect_list :: proc(it: ^List_Iterator) -> (Sexp_List, bool) {
+	next, ok := iterator_next(it)
+
+	if !ok {
+		return {}, false
+	}
+
+	list_expr: Sexp_List
+	list_expr, ok = next.expr.(Sexp_List)
+
+	return list_expr, ok
+}
+
+iterator_expect_atom :: proc(it: ^List_Iterator, $T: typeid) -> (T, bool) {
+	next, ok := iterator_next(it)
+
+	if !ok {
+		return {}, false
+	}
+
+	atom_expr: Atom
+	atom_expr, ok = next.expr.(Atom)
+
+	if !ok {
+		return {}, false
+	}
+
+	result: T
+	result, ok = atom_expr.(T)
+
+	return result, ok
+}
+
 print_list :: proc(it: List_Iterator, w: io.Writer) -> io.Error {
 	it := it
 	io.write_byte(w, '(') or_return
@@ -402,6 +446,16 @@ print_pretty_error :: proc(w: io.Writer, data: string, error: Error) -> io.Error
 	return nil
 }
 
+// Prints pretty error to temp string
+temp_pretty_error :: proc(data: string, error: Error) -> string {
+	builder: strings.Builder
+	strings.builder_init(&builder, context.temp_allocator)
+
+	writer := strings.to_writer(&builder)
+	print_pretty_error(writer, data, error)
+	return strings.to_string(builder)
+}
+
 @(test)
 test_parse :: proc(t: ^testing.T) {
 	ctx: SEXP_Parser

common/name/name.odin

@@ -81,3 +81,7 @@ to_string :: proc(name: Name) -> string {
 	sync.atomic_rw_mutex_shared_guard(&global_container.lock)
 	return global_container.names_array[name]
 }
+
+to_cstring :: proc(name: Name) -> cstring {
+	return strings.unsafe_string_to_cstring(to_string(name))
+}

game/assets/assets.odin

@@ -1,5 +1,7 @@
 package assets
 
+import "common:encoding/sexp"
+import "common:name"
 import "core:log"
 import "core:math"
 import lg "core:math/linalg"
@@ -57,6 +59,18 @@ destroy_loaded_bvh :: proc(loaded_bvh: ^Loaded_BVH) {
 
 Curve_2D :: [][2]f32
 
+Scene_Instance :: struct {
+	model: name.Name,
+	// TODO: common format definitions
+	pos:   rl.Vector3,
+	rot:   rl.Quaternion,
+	scale: rl.Vector3,
+}
+
+Scene_Desc :: struct {
+	instances: []Scene_Instance,
+}
+
 Asset_Manager :: struct {
 	textures:  Asset_Cache(rl.Texture2D),
 	models:    Asset_Cache(rl.Model),
@@ -65,6 +79,7 @@ Asset_Manager :: struct {
 	music:     Asset_Cache(rl.Music),
 	curves_1d: Asset_Cache([]f32),
 	curves_2d: Asset_Cache(Curve_2D),
+	scenes:    Asset_Cache(Scene_Desc),
 	bvhs:      map[cstring]Loaded_BVH,
 	curves:    map[cstring]Loaded_Curve_2D,
 }
@@ -203,6 +218,104 @@ CURVE_2D_CSV_LOADER :: Asset_Cache_Loader(Curve_2D) {
 	},
 }
 
+SCENE_DESC_LOADER :: Asset_Cache_Loader(Scene_Desc) {
+	load = proc(path: cstring, payload: Asset_Cache_Loader_Payload) -> (Scene_Desc, bool) {
+		data, err := physfs.read_entire_file(string(path), context.temp_allocator)
+		if err != nil {
+			log.errorf("Failed to read curve: %s, %v", path, err)
+			return {}, false
+		}
+
+		parser: sexp.SEXP_Parser
+		parser.data = string(data)
+		parsed, err2 := sexp.parse(&parser, context.temp_allocator)
+
+		if err2 != nil {
+			log.errorf(
+				"Failed to parse curve: %s\n%s",
+				path,
+				sexp.temp_pretty_error(parser.data, err2),
+			)
+		}
+
+		inst_identifier := sexp.Ident(name.from_string("inst"))
+
+		num_instances: int
+
+		top_it := sexp.iterator_list(parsed)
+		for top_level_expr in sexp.iterator_next(&top_it) {
+			list_expr := top_level_expr.expr.(sexp.Sexp_List) or_continue
+
+			it := sexp.iterator_list(list_expr)
+			ident := sexp.iterator_expect_atom(&it, sexp.Ident) or_continue
+
+			if ident != inst_identifier {
+				continue
+			}
+
+			num_instances += 1
+		}
+
+		instances := make([]Scene_Instance, num_instances)
+		num_instances = 0
+
+		top_it = sexp.iterator_list(parsed)
+		for top_level_expr in sexp.iterator_next(&top_it) {
+			list_expr := top_level_expr.expr.(sexp.Sexp_List) or_continue
+
+			it := sexp.iterator_list(list_expr)
+			ident := sexp.iterator_expect_atom(&it, sexp.Ident) or_continue
+
+			if ident != inst_identifier {
+				continue
+			}
+
+			inst: Scene_Instance
+
+			for sexp.iterator_has_more(it) {
+				key := sexp.iterator_expect_atom(&it, sexp.Tag) or_continue
+
+				switch name.Name(key) {
+				case name.from_string("model"):
+					model_path := sexp.iterator_expect_atom(&it, string) or_continue
+					inst.model = name.from_string(model_path)
+				case name.from_string("pos"):
+					pos_list := sexp.iterator_expect_list(&it) or_continue
+					pos_it := sexp.iterator_list(pos_list)
+					x := sexp.iterator_expect_atom(&pos_it, f64) or_continue
+					y := sexp.iterator_expect_atom(&pos_it, f64) or_continue
+					z := sexp.iterator_expect_atom(&pos_it, f64) or_continue
+
+					inst.pos = {f32(x), f32(y), f32(z)}
+				case name.from_string("rot"):
+					rot_list := sexp.iterator_expect_list(&it) or_continue
+					rot_it := sexp.iterator_list(rot_list)
+					inst.rot.x = f32(sexp.iterator_expect_atom(&rot_it, f64) or_continue)
+					inst.rot.y = f32(sexp.iterator_expect_atom(&rot_it, f64) or_continue)
+					inst.rot.z = f32(sexp.iterator_expect_atom(&rot_it, f64) or_continue)
+					inst.rot.w = f32(sexp.iterator_expect_atom(&rot_it, f64) or_continue)
+				case name.from_string("scale"):
+					scale_list := sexp.iterator_expect_list(&it) or_continue
+					scale_it := sexp.iterator_list(scale_list)
+					x := sexp.iterator_expect_atom(&scale_it, f64) or_continue
+					y := sexp.iterator_expect_atom(&scale_it, f64) or_continue
+					z := sexp.iterator_expect_atom(&scale_it, f64) or_continue
+
+					inst.scale = {f32(x), f32(y), f32(z)}
+				}
+			}
+
+			instances[num_instances] = inst
+			num_instances += 1
+		}
+
+		return Scene_Desc{instances = instances[:num_instances]}, true
+	},
+	unload = proc(scene_desc: Scene_Desc) {
+		delete(scene_desc.instances)
+	},
+}
+
 assetman_init :: proc(assetman: ^Asset_Manager) {
 	assetman.models = {
 		loader = MODEL_LOADER,
@@ -225,6 +338,9 @@ assetman_init :: proc(assetman: ^Asset_Manager) {
 	assetman.curves_2d = {
 		loader = CURVE_2D_CSV_LOADER,
 	}
+	assetman.scenes = {
+		loader = SCENE_DESC_LOADER,
+	}
 }
 
 Asset_Cache_Result :: enum {
@@ -238,6 +354,7 @@ assetcache_fetch_or_load :: proc(
 	ac: ^$T/Asset_Cache($E),
 	path: cstring,
 	payload: Asset_Cache_Loader_Payload = nil,
+	force_no_reload := false,
 ) -> (
 	value: E,
 	modtime: physfs.sint64,
@@ -250,7 +367,7 @@ assetcache_fetch_or_load :: proc(
 	if has_existing {
 		new_modtime := physfs.getLastModTime(path)
 
-		if existing.modtime == new_modtime {
+		if force_no_reload || existing.modtime == new_modtime {
 			result = .Cached
 			return existing.value, new_modtime, result
 		} else {
@@ -408,7 +525,9 @@ get_bvh :: proc(assetman: ^Asset_Manager, path: cstring) -> (Loaded_BVH, bool) {
 			copy(vertices[vert_count:], mesh_vertices)
 
 			for j in 0 ..< len(mesh_indices) {
-				indices[indices_count + j] = u16(vert_count) + mesh_indices[j]
+				index := vert_count + int(mesh_indices[j])
+				assert(index <= int(max(u16)))
+				indices[indices_count + j] = u16(index)
 			}
 
 			vert_count += len(mesh_vertices)
@@ -446,6 +565,20 @@ get_curve_2d :: proc(assetman: ^Asset_Manager, path: cstring) -> (curve: Curve_2
 	return
 }
 
+// Reads a two column comma separated csv file as a curve
+get_scene_desc :: proc(
+	assetman: ^Asset_Manager,
+	path: name.Name,
+	force_no_reload := false,
+) -> (
+	scene: Scene_Desc,
+	reloaded: bool,
+) {
+	res: Asset_Cache_Result
+	scene, _, res = assetcache_fetch_or_load(&assetman.scenes, name.to_cstring(path))
+	return scene, (res == .Loaded || res == .Reloaded)
+}
+
 get_convex :: proc(assetman: ^Asset_Manager, path: cstring) -> (result: Loaded_Convex) {
 	bytes, err := physfs.read_entire_file(string(path), context.temp_allocator)
 	if err != nil {
@@ -852,6 +985,7 @@ shutdown :: proc(assetman: ^Asset_Manager) {
 	assetcache_destroy(&assetman.music)
 	assetcache_destroy(&assetman.curves_1d)
 	assetcache_destroy(&assetman.curves_2d)
+	assetcache_destroy(&assetman.scenes)
 
 	for _, &loaded_bvh in assetman.bvhs {
 		destroy_loaded_bvh(&loaded_bvh)

game/game.odin

@@ -17,7 +17,6 @@ package game
 import "assets"
 import "common:name"
 import "core:fmt"
-import "core:hash"
 import "core:log"
 import "core:math"
 import "core:math/linalg"
@@ -48,6 +47,65 @@ Debug_Draw_State :: struct {
 	draw_physics_scene: bool,
 }
 
+Scene :: struct {
+	scene_desc_path: name.Name,
+	level_geoms:     []physics.Level_Geom_Handle,
+}
+
+scene_destroy :: proc(world: ^World, scene: ^Scene) {
+	scene.scene_desc_path = name.NONE
+	sim_state := physics.get_sim_state(&world.physics_scene)
+	for handle in scene.level_geoms {
+		physics.remove_level_geom(sim_state, handle)
+	}
+	delete(scene.level_geoms)
+	scene.level_geoms = nil
+}
+
+immediate_scene :: proc(world: ^World, scene: ^Scene, path: cstring) {
+	path_name := name.from_string(string(path))
+
+	desc, reloaded := assets.get_scene_desc(&g_mem.assetman, path_name)
+
+	if reloaded || scene.scene_desc_path != path_name {
+		scene_destroy(world, scene)
+
+		scene.scene_desc_path = path_name
+
+		sim_state := physics.get_sim_state(&world.physics_scene)
+		for inst in desc.instances {
+			physics.add_level_geom(
+				sim_state,
+				physics.Level_Geom_Config {
+					position = inst.pos,
+					rotation = inst.rot,
+					source = physics.Level_Geometry_Asset(name.to_string(inst.model)),
+				},
+			)
+		}
+	}
+}
+
+scene_copy :: proc(dst, src: ^Scene) {
+	dst.scene_desc_path = src.scene_desc_path
+	if len(dst.level_geoms) != len(src.level_geoms) {
+		delete(dst.level_geoms)
+		dst.level_geoms = make([]physics.Level_Geom_Handle, len(src.level_geoms))
+	}
+	copy(dst.level_geoms, src.level_geoms)
+}
+
+scene_draw :: proc(scene: ^Scene) {
+	desc, _ := assets.get_scene_desc(&g_mem.assetman, scene.scene_desc_path, true)
+	for geo in desc.instances {
+		render.draw_model(
+			assets.get_model(&g_mem.assetman, name.to_cstring(geo.model)),
+			{},
+			auto_cast linalg.matrix4_from_trs(geo.pos, geo.rot, geo.scale),
+		)
+	}
+}
+
 World :: struct {
 	player_pos:    rl.Vector3,
 	track:         Track,
@@ -57,6 +115,7 @@ World :: struct {
 	car_handle:    physics.Body_Handle,
 	engine_handle: physics.Engine_Handle,
 	debug_state:   Debug_Draw_State,
+	main_scene:    Scene,
 }
 world_init :: proc(world: ^World) {
 	physics.scene_init(&world.physics_scene, &g_mem.assetman)
@@ -64,6 +123,7 @@ world_init :: proc(world: ^World) {
 copy_world :: proc(dst, src: ^World) {
 	copy_track(&dst.track, &src.track)
 	physics.copy_physics_scene(&dst.physics_scene, &src.physics_scene)
+	scene_copy(&dst.main_scene, &src.main_scene)
 	dst.player_pos = src.player_pos
 	dst.pause = src.pause
 	dst.car_com = src.car_com
@@ -73,6 +133,7 @@ copy_world :: proc(dst, src: ^World) {
 }
 destroy_world :: proc(world: ^World) {
 	destroy_track(&world.track)
+	scene_destroy(world, &world.main_scene)
 	physics.scene_destroy(&world.physics_scene)
 }
 
@@ -699,46 +760,7 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 			wheel.turn_angle = TURN_ANGLE * turn_vel_correction * turn_input
 		}
 
-		{
+		immediate_scene(world, &world.main_scene, "assets/blender/test_level_blend/Scene.scn")
-			physics.immediate_level_geom(
-				&world.physics_scene,
-				u32(name.from_string("level_geom_from_asset")),
-				{
-					position = physics.Vec3{5, 0, 0},
-					rotation = linalg.QUATERNIONF32_IDENTITY,
-					source = physics.Level_Geometry_Asset(
-						"assets/blender/test_level_blend/NurbsPath.glb",
-					),
-				},
-			)
-		}
-
-		{
-			level_model := assets.get_model(&g_mem.assetman, "assets/testblend.glb")
-
-			for i in 0 ..< level_model.meshCount {
-				mesh := &level_model.meshes[i]
-
-				if mesh.triangleCount > 0 {
-					assert(mesh.vertexCount <= i32(max(u16)))
-					m := level_model.transform
-					pos := physics.Vec3{m[3][0], m[3][1], m[3][2]}
-					rotation := linalg.quaternion_from_matrix4_f32(auto_cast level_model.transform)
-					physics.immediate_level_geom(
-						&world.physics_scene,
-						hash.fnv32a(transmute([]byte)(fmt.tprintf("level mesh {}", i))),
-						{
-							position = pos,
-							rotation = rotation,
-							source = physics.Level_Geometry_Mesh {
-								vertices = (cast([^]rl.Vector3)mesh.vertices)[:mesh.vertexCount],
-								indices = mesh.indices[:mesh.triangleCount * 3],
-							},
-						},
-					)
-				}
-			}
-		}
 
 		if len(world.track.points) > 1 {
 			interpolated_points := calculate_spline_interpolated_points(
@@ -1094,7 +1116,6 @@ draw_world :: proc(world: ^World) {
 
 	sim_state := physics.get_sim_state(&world.physics_scene)
 
-	level_model := assets.get_model(&g_mem.assetman, "assets/testblend.glb")
 	car_model := assets.get_model(&g_mem.assetman, "assets/ice_cream_truck.glb")
 
 	phys_debug_state: physics.Debug_State
@@ -1183,7 +1204,7 @@ draw_world :: proc(world: ^World) {
 	// 	.VEC3,
 	// )
 
-	render.draw_model(level_model, {}, 1)
+	scene_draw(&world.main_scene)
 
 	render.draw_model(car_model, {}, car_matrix)
 

game/physics/scene.odin

@@ -967,6 +967,7 @@ get_level_geom_data :: proc(
 		)
 		if reloaded {
 			level_geom.aabb = bvh_aabb_to_phys_aabb(loaded_bvh.aabb)
+			level_geom.aabb = aabb_transform(level_geom.aabb, level_geom.x, level_geom.q)
 		}
 		vertices = loaded_bvh.vertices
 		indices = loaded_bvh.indices
@@ -989,6 +990,7 @@ get_level_geom_blas :: proc(sim_state: ^Sim_State, handle: Level_Geom_Handle) ->
 		)
 		if reloaded {
 			level_geom.aabb = bvh_aabb_to_phys_aabb(loaded_bvh.aabb)
+			level_geom.aabb = aabb_transform(level_geom.aabb, level_geom.x, level_geom.q)
 		}
 
 		bvh = loaded_bvh.bvh
@@ -1074,6 +1076,8 @@ add_level_geom :: proc(sim_state: ^Sim_State, config: Level_Geom_Config) -> Leve
 		}
 	}
 
+	level_geom.aabb = aabb_transform(level_geom.aabb, level_geom.x, level_geom.q)
+
 	if sim_state.first_free_level_geom_plus_one > 0 {
 		index := sim_state.first_free_level_geom_plus_one
 		new_level_geom := get_level_geom(sim_state, Level_Geom_Handle(index))

game/physics/simulation.odin

@@ -200,6 +200,7 @@ raycasts_level :: proc(
 			level_geom_handle := index_to_level_geom(
 				int(tlas.bvh_tree.primitives[leaf_node.child_or_prim_start + j]),
 			)
+			level_geom := get_level_geom(sim_state, level_geom_handle)
 			blas := get_level_geom_blas(sim_state, level_geom_handle)
 			vertices, indices := get_level_geom_data(sim_state, level_geom_handle)
 
@@ -210,7 +211,13 @@ raycasts_level :: proc(
 				for k in 0 ..< blas_leaf_node.prim_len {
 					tri_idx := int(blas.primitives[blas_leaf_node.child_or_prim_start + k])
 
-					tri := get_triangle(vertices, indices, tri_idx)
+					tri := get_transformed_triangle(
+						vertices,
+						indices,
+						tri_idx,
+						level_geom.x,
+						level_geom.q,
+					)
 
 					hit_t, tmp_normal, _, ok := collision.intersect_ray_triangle(
 						{origin, origin + dir},
@@ -392,7 +399,13 @@ remove_invalid_contacts :: proc(
 
 					if !should_remove {
 						aabb_a := dyn_tlas.body_aabbs[body_handle_to_index(contact.a)]
-						tri := get_triangle(vertices, indices, tri_idx)
+						tri := get_transformed_triangle(
+							vertices,
+							indices,
+							tri_idx,
+							level_geom.x,
+							level_geom.q,
+						)
 						aabb_b := get_triangle_aabb(tri)
 
 						should_remove |= !bvh.test_aabb_vs_aabb(aabb_a, aabb_b)
@@ -555,7 +568,13 @@ find_new_contacts :: proc(
 									tri_idx := int(
 										blas.primitives[blas_leaf_node.child_or_prim_start + k],
 									)
-									tri := get_triangle(vertices, indices, tri_idx)
+									tri := get_transformed_triangle(
+										vertices,
+										indices,
+										tri_idx,
+										level_geom.x,
+										level_geom.q,
+									)
 									prim_aabb := get_triangle_aabb(tri)
 
 									if bvh.test_aabb_vs_aabb(body_aabb, prim_aabb) {
@@ -804,8 +823,15 @@ update_contacts :: proc(sim_state: ^Sim_State, static_tlas: ^Static_TLAS) {
 			)
 		case .Body_vs_Level:
 			level_geom_handle := Level_Geom_Handle(contact.b)
+			level_geom := get_level_geom(sim_state, level_geom_handle)
 			vertices, indices := get_level_geom_data(sim_state, level_geom_handle)
-			tri := get_triangle(vertices, indices, int(contact.local_tri_idx))
+			tri := get_transformed_triangle(
+				vertices,
+				indices,
+				int(contact.local_tri_idx),
+				level_geom.x,
+				level_geom.q,
+			)
 
 			m2 = collision.double_sided_triangle_to_convex(tri, context.temp_allocator)
 		}