Update shape from immediate_body

game/halfedge/halfedge.odin

@@ -1,6 +1,9 @@
 package halfedge
 
 import lg "core:math/linalg"
+import "core:hash/xxhash"
+import "core:slice"
+import "core:mem"
 
 Vec3 :: [3]f32
 
@@ -290,3 +293,15 @@ iterate_next_vertex_edge :: proc(
 
 	return
 }
+
+hash :: proc(mesh: Half_Edge_Mesh) -> u32 {
+	state: xxhash.XXH32_state
+	xxhash.XXH32_reset_state(&state)
+	
+	_ = xxhash.XXH32_update(&state, mem.any_to_bytes(mesh.center))
+	_ = xxhash.XXH32_update(&state, slice.to_bytes(mesh.vertices))
+	_ = xxhash.XXH32_update(&state, slice.to_bytes(mesh.faces))
+	_ = xxhash.XXH32_update(&state, slice.to_bytes(mesh.edges))
+
+	return xxhash.XXH32_digest(&state)
+}

game/physics/immediate.odin

@@ -17,6 +17,7 @@ immediate_body :: proc(
 ) -> (
 	handle: Body_Handle,
 ) {
+	sim_state := get_sim_state(scene)
 	if id in state.immedate_bodies {
 		body := &state.immedate_bodies[id]
 		if body.last_ref != state.simulation_frame {
@@ -24,10 +25,10 @@ immediate_body :: proc(
 			state.num_referenced_bodies += 1
 		}
 		handle = body.handle
-		update_body_from_config(get_body(get_sim_state(scene), handle), config)
+		update_body_from_config(sim_state, get_body(sim_state, handle), config)
 	} else {
 		state.num_referenced_bodies += 1
-		handle = add_body(get_sim_state(scene), config)
+		handle = add_body(sim_state, config)
 		state.immedate_bodies[id] = {
 			handle   = handle,
 			last_ref = state.simulation_frame,

game/physics/scene.odin

@@ -157,7 +157,7 @@ get_body :: proc(sim_state: ^Sim_State, handle: Body_Handle) -> Body_Ptr {
 	return &sim_state.bodies_slice[index]
 }
 
-remove_shape :: proc(sim_state: ^Sim_State, shape: ^Collision_Shape) {
+remove_shape :: proc(sim_state: ^Sim_State, shape: Collision_Shape) {
 	switch &s in shape {
 	case Shape_Box:
 	case Internal_Shape_Convex:
@@ -240,9 +240,11 @@ initialize_body_from_config :: proc(sim_state: ^Sim_State, body: ^Body, config:
 	body.inv_mass, body.inv_inertia_tensor = calculate_body_params_from_config(config)
 }
 
-update_body_from_config :: proc(body: Body_Ptr, config: Body_Config) {
+update_body_from_config :: proc(sim_state: ^Sim_State, body: Body_Ptr, config: Body_Config) {
-	// TODO: Figure out how to update shape
+	// Inefficient, but eh
-	// body.shape = config.shape
+	remove_shape(sim_state, body.shape)
+	body.shape = add_shape(sim_state, config.shape)
+
 	body.inv_mass, body.inv_inertia_tensor = calculate_body_params_from_config(config)
 }
 
@@ -291,7 +293,7 @@ remove_body :: proc(sim_state: ^Sim_State, handle: Body_Handle) {
 
 		body.alive = false
 
-		remove_shape(sim_state, &body.shape)
+		remove_shape(sim_state, body.shape)
 
 		body.next_plus_one = sim_state.first_free_body_plus_one
 		sim_state.first_free_body_plus_one = i32(handle)

game/physics/simulation.odin

@@ -48,6 +48,8 @@ prepare_next_sim_state :: proc(scene: ^Scene) {
 	current_state := get_sim_state(scene)
 	next_state := get_next_sim_state(scene)
 
+	convex_container_reconcile(&current_state.convex_container)
+
 	next_state.first_free_body_plus_one = current_state.first_free_body_plus_one
 	next_state.first_free_suspension_constraint_plus_one =
 		current_state.first_free_suspension_constraint_plus_one