JoltPhysics3D: Rework RigidBody wrapper

- Add a clear way to setup dynamic/kinematic or static bodies
- Body registration to the world is batched (all bodies created before a physics step are added together, which is what Jolt is optimized for)
- Added support for empty shapes (= rigid bodies without collision) using a very small shape and tagging the body as sensor

examples/PhysicsPlayground/main.cpp

@@ -31,7 +31,7 @@ int main()
 #endif
 
 	auto& windowing = app.AddComponent<Nz::AppWindowingComponent>();
-	Nz::Window& mainWindow = windowing.CreateWindow(Nz::VideoMode(1920, 1080), "Physics playground");
+	Nz::Window& mainWindow = windowing.CreateWindow(Nz::VideoMode(1280, 720), "Physics playground");
 
 	auto& fs = app.AddComponent<Nz::AppFilesystemComponent>();
 	{
@@ -86,7 +86,8 @@ int main()
 		boxEntity.emplace<Nz::NodeComponent>();
 
 #if USE_JOLT
-		std::shared_ptr<Nz::JoltBoxCollider3D> wallCollider = std::make_shared<Nz::JoltBoxCollider3D>(Nz::Vector3f(BoxDims, BoxDims, 1.f));
+		float thickness = 1.f;
+		std::shared_ptr<Nz::JoltBoxCollider3D> wallCollider = std::make_shared<Nz::JoltBoxCollider3D>(Nz::Vector3f(BoxDims + thickness * 2.f, BoxDims + thickness * 2.f, thickness));
 #else
 		std::shared_ptr<Nz::BulletBoxCollider3D> wallCollider = std::make_shared<Nz::BulletBoxCollider3D>(Nz::Vector3f(BoxDims, BoxDims, 1.f));
 #endif
@@ -116,11 +117,13 @@ int main()
 #endif
 
 #if USE_JOLT
-		auto& ballPhysics = boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
+		Nz::JoltRigidBody3D::StaticSettings settings;
+		settings.geom = boxCollider;
+
+		auto& boxBody = boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
 #else
-		auto& ballPhysics = boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
+		auto& boxBody = boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
 #endif
-		ballPhysics.SetMass(0.f);
 
 		std::shared_ptr<Nz::Model> colliderModel;
 		{
@@ -132,14 +135,14 @@ int main()
 				return true;
 			});
 
-			/*std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(boxCollider->GenerateDebugMesh());
+			std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(boxCollider->GenerateDebugMesh());
 			std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
 
 			colliderModel = std::make_shared<Nz::Model>(colliderGraphicalMesh);
 			for (std::size_t i = 0; i < colliderModel->GetSubMeshCount(); ++i)
 				colliderModel->SetMaterial(i, colliderMat);
 
-			boxGfx.AttachRenderable(std::move(colliderModel));*/
+			boxGfx.AttachRenderable(std::move(colliderModel));
 		}
 	}
 
@@ -178,11 +181,14 @@ int main()
 		ballNode.SetScale(radius);
 
 #if USE_JOLT
-		auto& ballPhysics = ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(sphereCollider));
+		Nz::JoltRigidBody3D::DynamicSettings settings;
+		settings.geom = sphereCollider;
+		settings.mass = 4.f / 3.f * Nz::Pi<float> * Nz::IntegralPow(radius, 3);
+
+		auto& ballPhysics = ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
 #else
 		auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(sphereCollider));
 #endif
-		ballPhysics.SetMass(4.f / 3.f * Nz::Pi<float> * Nz::IntegralPow(radius, 3));
 		//ballPhysics.DisableSleeping();
 	}
 
@@ -222,12 +228,14 @@ int main()
 #endif
 
 #if USE_JOLT
-		auto& ballPhysics = ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
+		Nz::JoltRigidBody3D::DynamicSettings settings;
+		settings.geom = boxCollider;
+		settings.mass = width * height * depth;
+
+		ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
 #else
-		auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
+		ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
 #endif
-		ballPhysics.SetMass(width * height * depth);
-		//ballPhysics.DisableSleeping();
 	}
 
 	// Lumière
@@ -273,7 +281,43 @@ int main()
 	NazaraSlot(Nz::WindowEventHandler, OnMouseMoved, cameraMove);
 	NazaraSlot(Nz::WindowEventHandler, OnMouseMoved, grabbedObjectMove);
 #if USE_JOLT
-	std::optional<Nz::JoltPivotConstraint3D> grabConstraint;
+	struct GrabConstraint
+	{
+		GrabConstraint(Nz::JoltRigidBody3D& body, const Nz::Vector3f& grabPos) :
+		grabBody(body.GetWorld(), BodySettings(grabPos)),
+		grabConstraint(body, grabBody, grabPos)
+		{
+			body.WakeUp();
+			body.EnableSleeping(false);
+			grabConstraint.SetDamping(1.f);
+			grabConstraint.SetFrequency(5.f);
+		}
+
+		~GrabConstraint()
+		{
+			grabConstraint.GetBodyA().EnableSleeping(true);
+		}
+
+		void SetPosition(const Nz::Vector3f& pos)
+		{
+			grabBody.SetPosition(pos);
+		}
+
+		static Nz::JoltRigidBody3D::DynamicSettings BodySettings(const Nz::Vector3f& pos)
+		{
+			Nz::JoltRigidBody3D::DynamicSettings settings;
+			settings.mass = 0.f; //< kinematic
+			settings.isSimulationEnabled = false;
+			settings.position = pos;
+
+			return settings;
+		}
+
+		Nz::JoltRigidBody3D grabBody;
+		Nz::JoltDistanceConstraint3D grabConstraint;
+	};
+
+	std::optional<GrabConstraint> grabConstraint;
 #else
 	std::optional<Nz::BulletPivotConstraint3D> grabConstraint;
 #endif
@@ -328,8 +372,12 @@ int main()
 			{
 				if (lastHitInfo.hitBody && lastHitInfo.hitEntity != boxEntity)
 				{
+#if USE_JOLT
 					grabConstraint.emplace(*lastHitInfo.hitBody, lastHitInfo.hitPosition);
-					//grabConstraint->SetImpulseClamp(30.f);
+#else
+					grabConstraint.emplace(*lastHitInfo.hitBody, lastHitInfo.hitPosition);
+					grabConstraint->SetImpulseClamp(30.f);
+#endif
 
 					grabbedObjectMove.Connect(eventHandler.OnMouseMoved, [&, body = lastHitInfo.hitBody, distance = Nz::Vector3f::Distance(from, lastHitInfo.hitPosition)](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseMoveEvent& event)
 					{
@@ -337,7 +385,11 @@ int main()
 						Nz::Vector3f to = cameraComponent.Unproject({ float(event.x), float(event.y), 1.f });
 
 						Nz::Vector3f newPosition = from + (to - from).Normalize() * distance;
+#if USE_JOLT
+						grabConstraint->SetPosition(newPosition);
+#else
 						grabConstraint->SetSecondAnchor(newPosition);
+#endif
 					});
 				}
 				else

examples/Showcase/main.cpp

@@ -348,8 +348,10 @@ int main()
 		auto floorCollider = std::make_shared<Nz::JoltBoxCollider3D>(Nz::Vector3f(planeSize.x, 1.f, planeSize.y));
 		auto translatedFloorCollider = std::make_shared<Nz::JoltTranslatedRotatedCollider3D>(std::move(floorCollider), Nz::Vector3f::Down() * 0.5f);
 
-		auto& planeBody = floorEntity.emplace<Nz::JoltRigidBody3DComponent>(physSytem.CreateRigidBody(translatedFloorCollider));
+		Nz::JoltRigidBody3D::StaticSettings floorSettings;
-		planeBody.SetMass(0.f);
+		floorSettings.geom = std::move(translatedFloorCollider);
+
+		auto& planeBody = floorEntity.emplace<Nz::JoltRigidBody3DComponent>(physSytem.CreateRigidBody(floorSettings));
 
 		std::shared_ptr<Nz::GraphicalMesh> boxMeshGfx = Nz::GraphicalMesh::Build(Nz::Primitive::Box(Nz::Vector3f(0.5f, 0.5f, 0.5f)), meshPrimitiveParams);
 

include/Nazara/JoltPhysics3D/Enums.hpp

@@ -21,6 +21,12 @@ namespace Nz
 
 		Max = TranslatedRotatedDecoration
 	};
+
+	enum class JoltMotionQuality
+	{
+		Discrete,
+		LinearCast
+	};
 }
 
 #endif // NAZARA_JOLTPHYSICS3D_ENUMS_HPP

include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp

@@ -20,7 +20,9 @@
 
 namespace JPH
 {
+	class BodyID;
 	class PhysicsSystem;
+	class Shape;
 }
 
 namespace Nz
@@ -31,6 +33,7 @@ namespace Nz
 	class NAZARA_JOLTPHYSICS3D_API JoltPhysWorld3D
 	{
 		friend JoltCharacter;
+		friend JoltRigidBody3D;
 
 		public:
 			struct RaycastHit;
@@ -47,10 +50,13 @@ namespace Nz
 			Time GetStepSize() const;
 
 			inline bool IsBodyActive(UInt32 bodyIndex) const;
+			inline bool IsBodyRegistered(UInt32 bodyIndex) const;
 
 			bool RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback);
 			bool RaycastQueryFirst(const Vector3f& from, const Vector3f& to, const FunctionRef<void(const RaycastHit& hitInfo)>& callback);
 
+			void RefreshBodies();
+
 			void SetGravity(const Vector3f& gravity);
 			void SetMaxStepCount(std::size_t maxStepCount);
 			void SetStepSize(Time stepSize);
@@ -77,13 +83,19 @@ namespace Nz
 
 			struct JoltWorld;
 
+			const JPH::Shape* GetNullShape() const;
+
 			void OnPreStep(float deltatime);
 
+			void RegisterBody(const JPH::BodyID& bodyID, bool activate, bool removeFromDeactivationList);
 			inline void RegisterCharacter(JoltCharacter* character);
+
+			void UnregisterBody(const JPH::BodyID& bodyID, bool destroy, bool removeFromRegisterList);
 			inline void UnregisterCharacter(JoltCharacter* character);
 
 			std::size_t m_maxStepCount;
 			std::unique_ptr<std::atomic_uint64_t[]> m_activeBodies;
+			std::unique_ptr<std::uint64_t[]> m_registeredBodies;
 			std::unique_ptr<JoltWorld> m_world;
 			std::vector<JoltCharacter*> m_characters;
 			Vector3f m_gravity;

include/Nazara/JoltPhysics3D/JoltPhysWorld3D.inl

@@ -14,6 +14,14 @@ namespace Nz
 		return m_activeBodies[blockIndex] & (UInt64(1u) << localIndex);
 	}
 
+	inline bool JoltPhysWorld3D::IsBodyRegistered(UInt32 bodyIndex) const
+	{
+		UInt32 blockIndex = bodyIndex / 64;
+		UInt32 localIndex = bodyIndex % 64;
+
+		return m_registeredBodies[blockIndex] & (UInt64(1u) << localIndex);
+	}
+
 	inline void JoltPhysWorld3D::RegisterCharacter(JoltCharacter* character)
 	{
 		auto it = std::lower_bound(m_characters.begin(), m_characters.end(), character);

include/Nazara/JoltPhysics3D/JoltRigidBody3D.hpp

@@ -19,6 +19,7 @@
 namespace JPH
 {
 	class Body;
+	class BodyCreationSettings;
 }
 
 namespace Nz
@@ -28,8 +29,11 @@ namespace Nz
 	class NAZARA_JOLTPHYSICS3D_API JoltRigidBody3D
 	{
 		public:
-			JoltRigidBody3D(JoltPhysWorld3D* world, const Matrix4f& mat = Matrix4f::Identity());
+			struct DynamicSettings;
-			JoltRigidBody3D(JoltPhysWorld3D* world, std::shared_ptr<JoltCollider3D> geom, const Matrix4f& mat = Matrix4f::Identity());
+			struct StaticSettings;
+
+			JoltRigidBody3D(JoltPhysWorld3D& world, const DynamicSettings& settings);
+			JoltRigidBody3D(JoltPhysWorld3D& world, const StaticSettings& settings);
 			JoltRigidBody3D(const JoltRigidBody3D& object) = delete;
 			JoltRigidBody3D(JoltRigidBody3D&& object) noexcept;
 			~JoltRigidBody3D();
@@ -38,7 +42,9 @@ namespace Nz
 			void AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys = CoordSys::Global);
 			void AddTorque(const Vector3f& torque, CoordSys coordSys = CoordSys::Global);
 
+			inline void DisableSimulation();
 			inline void DisableSleeping();
+			void EnableSimulation(bool enable);
 			void EnableSleeping(bool enable);
 
 			void FallAsleep();
@@ -53,16 +59,16 @@ namespace Nz
 			float GetLinearDamping() const;
 			Vector3f GetLinearVelocity() const;
 			float GetMass() const;
-			Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
 			Matrix4f GetMatrix() const;
 			Vector3f GetPosition() const;
 			std::pair<Vector3f, Quaternionf> GetPositionAndRotation() const;
 			Quaternionf GetRotation() const;
-			inline JoltPhysWorld3D* GetWorld() const;
+			inline JoltPhysWorld3D& GetWorld() const;
 
-			bool IsSimulationEnabled() const;
+			inline bool IsSimulationEnabled() const;
 			bool IsSleeping() const;
 			bool IsSleepingEnabled() const;
+			bool IsStatic() const;
 
 			void SetAngularDamping(float angularDamping);
 			void SetAngularVelocity(const Vector3f& angularVelocity);
@@ -70,7 +76,6 @@ namespace Nz
 			void SetLinearDamping(float damping);
 			void SetLinearVelocity(const Vector3f& velocity);
 			void SetMass(float mass, bool recomputeInertia = true);
-			void SetMassCenter(const Vector3f& center);
 			void SetPosition(const Vector3f& position);
 			void SetRotation(const Quaternionf& rotation);
 
@@ -86,14 +91,53 @@ namespace Nz
 			JoltRigidBody3D& operator=(const JoltRigidBody3D& object) = delete;
 			JoltRigidBody3D& operator=(JoltRigidBody3D&& object) noexcept;
 
+			struct CommonSettings
+			{
+				std::shared_ptr<JoltCollider3D> geom;
+				Quaternionf rotation = Quaternionf::Identity();
+				Vector3f position = Vector3f::Zero();
+				bool initiallySleeping = false;
+				bool isSimulationEnabled = true;
+				bool isTrigger = false;
+			};
+
+			struct DynamicSettings : CommonSettings
+			{
+				// Default values from Jolt
+				JoltMotionQuality motionQuality = JoltMotionQuality::Discrete;
+				Vector3f angularVelocity = Vector3f::Zero();
+				Vector3f linearVelocity = Vector3f::Zero();
+				bool allowSleeping = true;
+				float angularDamping = 0.05f;
+				float friction = 0.2f;
+				float gravityFactor = 1.f;
+				float linearDamping = 0.05f;
+				float mass = 1.f;
+				float maxAngularVelocity = 0.25f * Pi<float> * 60.f;
+				float maxLinearVelocity = 500.f;
+				float restitution = 0.f;
+			};
+
+			struct StaticSettings : CommonSettings
+			{
+			};
+
 		protected:
-			void Destroy();
+			void Destroy(bool worldDestruction = false);
 
 		private:
+			void BuildSettings(const CommonSettings& settings, JPH::BodyCreationSettings& creationSettings);
+			void BuildSettings(const DynamicSettings& settings, JPH::BodyCreationSettings& creationSettings);
+			void BuildSettings(const StaticSettings& settings, JPH::BodyCreationSettings& creationSettings);
+
+			bool ShouldActivate() const;
+
 			std::shared_ptr<JoltCollider3D> m_geom;
 			JPH::Body* m_body;
 			JoltPhysWorld3D* m_world;
 			UInt32 m_bodyIndex;
+			bool m_isSimulationEnabled;
+			bool m_isTrigger;
 	};
 }
 

include/Nazara/JoltPhysics3D/JoltRigidBody3D.inl

@@ -6,6 +6,11 @@
 
 namespace Nz
 {
+	inline void JoltRigidBody3D::DisableSimulation()
+	{
+		return EnableSimulation(false);
+	}
+
 	inline void JoltRigidBody3D::DisableSleeping()
 	{
 		return EnableSleeping(false);
@@ -31,9 +36,14 @@ namespace Nz
 		return m_geom;
 	}
 
-	inline JoltPhysWorld3D* JoltRigidBody3D::GetWorld() const
+	inline JoltPhysWorld3D& JoltRigidBody3D::GetWorld() const
 	{
-		return m_world;
+		return *m_world;
+	}
+
+	inline bool JoltRigidBody3D::IsSimulationEnabled() const
+	{
+		return m_isSimulationEnabled;
 	}
 }
 

include/Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.inl

@@ -9,7 +9,7 @@ namespace Nz
 	template<typename... Args>
 	JoltRigidBody3DComponent JoltPhysics3DSystem::CreateRigidBody(Args&&... args)
 	{
-		return JoltRigidBody3DComponent(&m_physWorld, std::forward<Args>(args)...);
+		return JoltRigidBody3DComponent(m_physWorld, std::forward<Args>(args)...);
 	}
 
 	inline JoltPhysWorld3D& JoltPhysics3DSystem::GetPhysWorld()

src/Nazara/JoltPhysics3D/JoltCharacter.cpp

@@ -24,6 +24,7 @@ namespace Nz
 
 		JPH::CharacterSettings settings;
 		settings.mShape = shapeResult.Get();
+		settings.mLayer = 1;
 
 		m_character = std::make_unique<JPH::Character>(&settings, ToJolt(position), ToJolt(rotation), 0, m_physicsWorld.GetPhysicsSystem());
 		m_character->AddToPhysicsSystem();
@@ -108,7 +109,7 @@ namespace Nz
 		m_character->Activate(false);
 	}
 
-	void JoltCharacter::PreSimulate(float elapsedTime)
+	void JoltCharacter::PreSimulate(float /*elapsedTime*/)
 	{
 	}
 

src/Nazara/JoltPhysics3D/JoltConstraint3D.cpp

@@ -52,12 +52,12 @@ namespace Nz
 
 	JoltPhysWorld3D& JoltConstraint3D::GetWorld()
 	{
-		return *GetBodyA().GetWorld();
+		return GetBodyA().GetWorld();
 	}
 
 	const JoltPhysWorld3D& JoltConstraint3D::GetWorld() const
 	{
-		return *GetBodyA().GetWorld();
+		return GetBodyA().GetWorld();
 	}
 
 	bool JoltConstraint3D::IsSingleBody() const

src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp

@@ -15,20 +15,19 @@
 #include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
 #include <Jolt/Physics/Collision/RayCast.h>
 #include <Jolt/Physics/Collision/ObjectLayer.h>
+#include <Jolt/Physics/Collision/Shape/SphereShape.h>
 #include <Jolt/Physics/Collision/BroadPhase/BroadPhaseLayer.h>
 #include <Jolt/Physics/PhysicsSettings.h>
 #include <Jolt/Physics/PhysicsSystem.h>
 #include <Jolt/Physics/PhysicsStepListener.h>
 #include <Jolt/Physics/Body/BodyActivationListener.h>
+#include <tsl/ordered_set.h>
 #include <cassert>
-#include <iostream>
 #include <Nazara/JoltPhysics3D/Debug.hpp>
 
 namespace DitchMeAsap
 {
 	using namespace JPH;
-	using std::cout;
-	using std::endl;
 
 	// Layer that objects can be in, determines which other objects it can collide with
 	// Typically you at least want to have 1 layer for moving bodies and 1 layer for static bodies, but you can have more
@@ -130,7 +129,7 @@ namespace DitchMeAsap
 	};
 
 	// An example contact listener
-	class MyContactListener : public ContactListener
+	/*class MyContactListener : public ContactListener
 	{
 	public:
 		// See: ContactListener
@@ -156,7 +155,7 @@ namespace DitchMeAsap
 		{
 			cout << "A contact was removed" << endl;
 		}
-	};
+	};*/
 }
 
 namespace Nz
@@ -227,7 +226,7 @@ namespace Nz
 			{
 			}
 
-			void OnBodyActivated(const JPH::BodyID& inBodyID, UInt64 inBodyUserData) override
+			void OnBodyActivated(const JPH::BodyID& inBodyID, UInt64 /*inBodyUserData*/) override
 			{
 				UInt32 bodyIndex = inBodyID.GetIndex();
 				UInt32 blockIndex = bodyIndex / 64;
@@ -236,7 +235,7 @@ namespace Nz
 				m_physWorld.m_activeBodies[blockIndex] |= UInt64(1u) << localIndex;
 			}
 
-			void OnBodyDeactivated(const JPH::BodyID& inBodyID, UInt64 inBodyUserData) override
+			void OnBodyDeactivated(const JPH::BodyID& inBodyID, UInt64 /*inBodyUserData*/) override
 			{
 				UInt32 bodyIndex = inBodyID.GetIndex();
 				UInt32 blockIndex = bodyIndex / 64;
@@ -268,8 +267,15 @@ namespace Nz
 
 	struct JoltPhysWorld3D::JoltWorld
 	{
+		using BodySet = tsl::ordered_set<JPH::BodyID, std::hash<JPH::BodyID>, std::equal_to<JPH::BodyID>, std::allocator<JPH::BodyID>, std::vector<JPH::BodyID>>;
+
 		JPH::TempAllocatorImpl tempAllocator;
 		JPH::PhysicsSystem physicsSystem;
+		BodySet pendingAdditionActivate;
+		BodySet pendingAdditionNoActivate;
+		BodySet pendingDeactivations;
+		std::vector<JPH::BodyID> tempBodyIDVec;
+		std::unique_ptr<JPH::SphereShape> nullShape;
 
 		JoltPhysWorld3D::BodyActivationListener bodyActivationListener;
 		JoltPhysWorld3D::StepListener stepListener;
@@ -305,9 +311,14 @@ namespace Nz
 		m_world->physicsSystem.AddStepListener(&m_world->stepListener);
 
 		std::size_t blockCount = (m_world->physicsSystem.GetMaxBodies() - 1) / 64 + 1;
+
 		m_activeBodies = std::make_unique<std::atomic_uint64_t[]>(blockCount);
 		for (std::size_t i = 0; i < blockCount; ++i)
 			m_activeBodies[i] = 0;
+
+		m_registeredBodies = std::make_unique<std::uint64_t[]>(blockCount);
+		for (std::size_t i = 0; i < blockCount; ++i)
+			m_registeredBodies[i] = 0;
 	}
 
 	JoltPhysWorld3D::~JoltPhysWorld3D() = default;
@@ -377,9 +388,57 @@ namespace Nz
 		hitInfo.hitBody = reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(body.GetUserData()));
 		hitInfo.hitNormal = FromJolt(body.GetWorldSpaceSurfaceNormal(collector.mHit.mSubShapeID2, rayCast.GetPointOnRay(collector.mHit.GetEarlyOutFraction())));
 
+		callback(hitInfo);
 		return true;
 	}
 
+	void JoltPhysWorld3D::RefreshBodies()
+	{
+		// Batch add bodies (keeps the broadphase efficient)
+		JPH::BodyInterface& bodyInterface = m_world->physicsSystem.GetBodyInterfaceNoLock();
+		auto AddBodies = [&](const JoltWorld::BodySet& bodies, JPH::EActivation activation)
+		{
+			for (const JPH::BodyID& bodyId : bodies)
+			{
+				UInt32 bodyIndex = bodyId.GetIndex();
+				UInt32 blockIndex = bodyIndex / 64;
+				UInt32 localIndex = bodyIndex % 64;
+
+				m_registeredBodies[blockIndex] |= UInt64(1u) << localIndex;
+			}
+
+			if (bodies.size() == 1)
+				bodyInterface.AddBody(bodies.front(), activation);
+			else
+			{
+				m_world->tempBodyIDVec.resize(bodies.size());
+				std::memcpy(&m_world->tempBodyIDVec[0], bodies.data(), bodies.size() * sizeof(JPH::BodyID));
+
+				JPH::BodyInterface::AddState addState = bodyInterface.AddBodiesPrepare(m_world->tempBodyIDVec.data(), SafeCast<int>(m_world->tempBodyIDVec.size()));
+				bodyInterface.AddBodiesFinalize(m_world->tempBodyIDVec.data(), SafeCast<int>(m_world->tempBodyIDVec.size()), addState, activation);
+			}
+		};
+
+		// Handle pending register/unregister bodies
+		if (!m_world->pendingAdditionActivate.empty())
+		{
+			AddBodies(m_world->pendingAdditionActivate, JPH::EActivation::Activate);
+			m_world->pendingAdditionActivate.clear();
+		}
+
+		if (!m_world->pendingAdditionNoActivate.empty())
+		{
+			AddBodies(m_world->pendingAdditionNoActivate, JPH::EActivation::DontActivate);
+			m_world->pendingAdditionNoActivate.clear();
+		}
+
+		if (!m_world->pendingDeactivations.empty())
+		{
+			bodyInterface.DeactivateBodies(m_world->pendingDeactivations.data(), SafeCast<int>(m_world->pendingDeactivations.size()));
+			m_world->pendingDeactivations.clear();
+		}
+	}
+
 	void JoltPhysWorld3D::SetGravity(const Vector3f& gravity)
 	{
 		m_world->physicsSystem.SetGravity(ToJolt(gravity));
@@ -397,18 +456,12 @@ namespace Nz
 
 	void JoltPhysWorld3D::Step(Time timestep)
 	{
+		RefreshBodies();
+
 		JPH::JobSystem& jobSystem = JoltPhysics3D::Instance()->GetThreadPool();
-
-		m_timestepAccumulator += timestep;
-
 		float stepSize = m_stepSize.AsSeconds<float>();
 
-		static bool firstStep = true;
+		m_timestepAccumulator += timestep;
-		if (firstStep)
-		{
-			m_world->physicsSystem.OptimizeBroadPhase();
-			firstStep = false;
-		}
 
 		std::size_t stepCount = 0;
 		while (m_timestepAccumulator >= m_stepSize && stepCount < m_maxStepCount)
@@ -423,6 +476,63 @@ namespace Nz
 		}
 	}
 
+	void JoltPhysWorld3D::RegisterBody(const JPH::BodyID& bodyID, bool activate, bool removeFromDeactivationList)
+	{
+		assert(removeFromDeactivationList || !m_world->pendingDeactivations.contains(bodyID));
+
+		auto& activationSet = (activate) ? m_world->pendingAdditionActivate : m_world->pendingAdditionNoActivate;
+		activationSet.insert(bodyID);
+
+		if (removeFromDeactivationList)
+		{
+			auto& otherActivationSet = (activate) ? m_world->pendingAdditionNoActivate : m_world->pendingAdditionActivate;
+			otherActivationSet.erase(bodyID);
+
+			m_world->pendingDeactivations.erase(bodyID);
+		}
+	}
+
+	void JoltPhysWorld3D::UnregisterBody(const JPH::BodyID& bodyID, bool destroy, bool removeFromActivationList)
+	{
+		if (destroy)
+		{
+			auto& bodyInterface = m_world->physicsSystem.GetBodyInterface();
+
+			UInt32 bodyIndex = bodyID.GetIndex();
+			if (IsBodyRegistered(bodyIndex))
+			{
+				UInt32 blockIndex = bodyIndex / 64;
+				UInt32 localIndex = bodyIndex % 64;
+
+				m_registeredBodies[blockIndex] &= ~(UInt64(1u) << localIndex);
+
+				bodyInterface.RemoveBody(bodyID);
+			}
+
+			bodyInterface.DestroyBody(bodyID);
+
+		}
+		else
+			m_world->pendingDeactivations.insert(bodyID);
+
+		if (removeFromActivationList)
+		{
+			m_world->pendingAdditionActivate.erase(bodyID);
+			m_world->pendingAdditionNoActivate.erase(bodyID);
+		}
+	}
+
+	const JPH::Shape* JoltPhysWorld3D::GetNullShape() const
+	{
+		if (!m_world->nullShape)
+		{
+			m_world->nullShape = std::make_unique<JPH::SphereShape>(std::numeric_limits<float>::epsilon());
+			m_world->nullShape->SetEmbedded();
+		}
+
+		return m_world->nullShape.get();
+	}
+
 	void JoltPhysWorld3D::OnPreStep(float deltatime)
 	{
 		for (JoltCharacter* character : m_characters)

src/Nazara/JoltPhysics3D/JoltRigidBody3D.cpp

@@ -17,46 +17,57 @@
 
 namespace Nz
 {
-	JoltRigidBody3D::JoltRigidBody3D(JoltPhysWorld3D* world, const Matrix4f& mat) :
+	JoltRigidBody3D::JoltRigidBody3D(JoltPhysWorld3D& world, const DynamicSettings& settings) :
-	JoltRigidBody3D(world, nullptr, mat)
+	m_geom(settings.geom),
+	m_world(&world),
+	m_isSimulationEnabled(false),
+	m_isTrigger(settings.isTrigger)
 	{
-	}
-
-	JoltRigidBody3D::JoltRigidBody3D(JoltPhysWorld3D* world, std::shared_ptr<JoltCollider3D> geom, const Matrix4f& mat) :
-	m_geom(std::move(geom)),
-	m_world(world)
-	{
-		NazaraAssert(m_world, "Invalid world");
-
-		if (!m_geom)
-			m_geom = std::make_shared<JoltSphereCollider3D>(std::numeric_limits<float>::epsilon());
-
 		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
 
-		JPH::Vec3 position = ToJolt(mat.GetTranslation());
+		JPH::BodyCreationSettings creationSettings;
-		JPH::Quat rotation = ToJolt(mat.GetRotation().Normalize());
+		BuildSettings(settings, creationSettings);
-
-		JPH::BodyCreationSettings settings(m_geom->GetShapeSettings(), position, rotation, JPH::EMotionType::Dynamic, 1);
-
-		m_body = bodyInterface.CreateBody(settings);
-		m_body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
 
+		m_body = bodyInterface.CreateBody(creationSettings);
 		JPH::BodyID bodyId = m_body->GetID();
-
-		bodyInterface.AddBody(bodyId, JPH::EActivation::Activate);
 		m_bodyIndex = bodyId.GetIndex();
+
+		if (settings.isSimulationEnabled)
+			m_world->RegisterBody(bodyId, !settings.initiallySleeping, false);
 	}
 
-	JoltRigidBody3D::JoltRigidBody3D(JoltRigidBody3D&& object) noexcept :
+	JoltRigidBody3D::JoltRigidBody3D(JoltPhysWorld3D& world, const StaticSettings& settings) :
-	m_geom(std::move(object.m_geom)),
+	m_geom(settings.geom),
-	m_body(object.m_body),
+	m_world(&world),
-	m_bodyIndex(object.m_bodyIndex),
+	m_isSimulationEnabled(false),
-	m_world(object.m_world)
+	m_isTrigger(settings.isTrigger)
 	{
-		m_body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
+		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
 
-		object.m_body = nullptr;
+		JPH::BodyCreationSettings creationSettings;
-		object.m_bodyIndex = std::numeric_limits<UInt32>::max();
+		BuildSettings(settings, creationSettings);
+
+		m_body = bodyInterface.CreateBody(creationSettings);
+		JPH::BodyID bodyId = m_body->GetID();
+		m_bodyIndex = bodyId.GetIndex();
+
+		if (settings.isSimulationEnabled)
+			m_world->RegisterBody(bodyId, false, false); //< static bodies cannot be activated
+	}
+
+	JoltRigidBody3D::JoltRigidBody3D(JoltRigidBody3D&& body) noexcept :
+	m_geom(std::move(body.m_geom)),
+	m_body(body.m_body),
+	m_world(body.m_world),
+	m_bodyIndex(body.m_bodyIndex),
+	m_isSimulationEnabled(body.m_isSimulationEnabled),
+	m_isTrigger(body.m_isTrigger)
+	{
+		body.m_body = nullptr;
+		body.m_bodyIndex = std::numeric_limits<UInt32>::max();
+
+		if (m_body)
+			m_body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
 	}
 
 	JoltRigidBody3D::~JoltRigidBody3D()
@@ -69,10 +80,8 @@ namespace Nz
 		switch (coordSys)
 		{
 			case CoordSys::Global:
-			{
 				m_body->AddForce(ToJolt(force));
 				break;
-			}
 
 			case CoordSys::Local:
 				m_body->AddForce(m_body->GetRotation() * ToJolt(force));
@@ -80,21 +89,17 @@ namespace Nz
 		}
 	}
 
-#if 0
 	void JoltRigidBody3D::AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys)
 	{
 		switch (coordSys)
 		{
 			case CoordSys::Global:
-				WakeUp();
+				m_body->AddForce(ToJolt(force), ToJolt(point));
-				m_body->applyForce(ToJolt(force), ToJolt(point));
 				break;
 
 			case CoordSys::Local:
-			{
+				m_body->AddForce(m_body->GetRotation() * ToJolt(force), ToJolt(ToWorld(point)));
-				Matrix4f transformMatrix = GetMatrix();
+				break;
-				return AddForce(transformMatrix.Transform(force, 0.f), point, CoordSys::Global);
-			}
 		}
 	}
 
@@ -103,74 +108,83 @@ namespace Nz
 		switch (coordSys)
 		{
 			case CoordSys::Global:
-				WakeUp();
+				m_body->AddTorque(ToJolt(torque));
-				m_body->applyTorque(ToJolt(torque));
 				break;
 
 			case CoordSys::Local:
-				Matrix4f transformMatrix = GetMatrix();
+				m_body->AddTorque(m_body->GetRotation() * ToJolt(torque));
-				WakeUp();
-				m_body->applyTorque(ToJolt(transformMatrix.Transform(torque, 0.f)));
 				break;
 		}
 	}
-#endif
+
+	void JoltRigidBody3D::EnableSimulation(bool enable)
+	{
+		if (m_isSimulationEnabled == enable)
+			return;
+
+		if (enable)
+			m_world->RegisterBody(m_body->GetID(), true, true);
+		else
+			m_world->UnregisterBody(m_body->GetID(), false, true);
+
+		m_isSimulationEnabled = enable;
+	}
+
 	void JoltRigidBody3D::EnableSleeping(bool enable)
 	{
 		m_body->SetAllowSleeping(enable);
 	}
 
-#if 0
 	void JoltRigidBody3D::FallAsleep()
 	{
-		if (m_body->getActivationState() != DISABLE_DEACTIVATION)
+		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
-			m_body->setActivationState(ISLAND_SLEEPING);
+		bodyInterface.DeactivateBody(m_body->GetID());
 	}
 
 	Boxf JoltRigidBody3D::GetAABB() const
 	{
-		btVector3 min, max;
+		const JPH::AABox& aabb = m_body->GetWorldSpaceBounds();
-		m_body->getAabb(min, max);
+		return Boxf(FromJolt(aabb.mMin), FromJolt(aabb.GetSize()));
-
-		return Boxf(FromJolt(min), FromJolt(max));
 	}
 
 	float JoltRigidBody3D::GetAngularDamping() const
 	{
-		return m_body->getAngularDamping();
+		if NAZARA_UNLIKELY(IsStatic())
+			return 0.f;
+
+		return m_body->GetMotionProperties()->GetAngularDamping();
 	}
 
 	Vector3f JoltRigidBody3D::GetAngularVelocity() const
 	{
-		return FromJolt(m_body->getAngularVelocity());
+		return FromJolt(m_body->GetAngularVelocity());
 	}
 
 	float JoltRigidBody3D::GetLinearDamping() const
 	{
-		return m_body->getLinearDamping();
+		if NAZARA_UNLIKELY(IsStatic())
+			return 0.f;
+
+		return m_body->GetMotionProperties()->GetLinearDamping();
 	}
 
 	Vector3f JoltRigidBody3D::GetLinearVelocity() const
 	{
-		return FromJolt(m_body->getLinearVelocity());
+		return FromJolt(m_body->GetLinearVelocity());
 	}
-#endif
 
 	float JoltRigidBody3D::GetMass() const
 	{
+		if NAZARA_UNLIKELY(IsStatic())
+			return 0.f;
+
 		return 1.f / m_body->GetMotionProperties()->GetInverseMass();
 	}
-#if 0
-	Vector3f JoltRigidBody3D::GetMassCenter(CoordSys coordSys) const
-	{
-		return FromJolt(m_body->getCenterOfMassPosition());
-	}
 
 	Matrix4f JoltRigidBody3D::GetMatrix() const
 	{
-		return FromJolt(m_body->getWorldTransform());
+		return FromJolt(m_body->GetCenterOfMassTransform());
 	}
-#endif
 
 	Vector3f JoltRigidBody3D::GetPosition() const
 	{
@@ -190,13 +204,6 @@ namespace Nz
 		return FromJolt(m_body->GetRotation());
 	}
 
-#if 0
-	bool JoltRigidBody3D::IsSimulationEnabled() const
-	{
-		return m_body->isActive();
-	}
-#endif
-
 	bool JoltRigidBody3D::IsSleeping() const
 	{
 		return m_body->IsActive();
@@ -207,30 +214,42 @@ namespace Nz
 		return m_body->GetAllowSleeping();
 	}
 
-#if 0
+	bool JoltRigidBody3D::IsStatic() const
+	{
+		return m_body->GetMotionType() == JPH::EMotionType::Static;
+	}
+
 	void JoltRigidBody3D::SetAngularDamping(float angularDamping)
 	{
-		m_body->setDamping(m_body->getLinearDamping(), angularDamping);
+		if NAZARA_UNLIKELY(IsStatic())
+			return;
+
+		m_body->GetMotionProperties()->SetAngularDamping(angularDamping);
 	}
 
 	void JoltRigidBody3D::SetAngularVelocity(const Vector3f& angularVelocity)
 	{
-		m_body->setAngularVelocity(ToJolt(angularVelocity));
+		m_body->SetAngularVelocity(ToJolt(angularVelocity));
 	}
-#endif
+
 	void JoltRigidBody3D::SetGeom(std::shared_ptr<JoltCollider3D> geom, bool recomputeInertia)
 	{
 		if (m_geom != geom)
 		{
 			float mass = GetMass();
 
-			if (geom)
+			const JPH::Shape* shape;
-				m_geom = std::move(geom);
+			m_geom = std::move(geom);
+			if (m_geom)
+				shape = m_geom->GetShapeSettings()->Create().Get();
 			else
-				m_geom = std::make_shared<JoltSphereCollider3D>(std::numeric_limits<float>::epsilon());
+			{
+				m_body->SetIsSensor(true);
+				shape = m_world->GetNullShape();
+			}
 
 			JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
-			bodyInterface.SetShape(m_body->GetID(), m_geom->GetShapeSettings()->Create().Get(), false, JPH::EActivation::Activate);
+			bodyInterface.SetShape(m_body->GetID(), m_geom->GetShapeSettings()->Create().Get(), false, (ShouldActivate()) ? JPH::EActivation::Activate : JPH::EActivation::DontActivate);
 			if (recomputeInertia)
 			{
 				JPH::MassProperties massProperties = m_body->GetShape()->GetMassProperties();
@@ -242,6 +261,9 @@ namespace Nz
 
 	void JoltRigidBody3D::SetLinearDamping(float damping)
 	{
+		if NAZARA_UNLIKELY(IsStatic())
+			return;
+
 		m_body->GetMotionProperties()->SetLinearDamping(damping);
 	}
 
@@ -270,34 +292,28 @@ namespace Nz
 			JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
 			bodyInterface.DeactivateBody(m_body->GetID());
 
-			m_body->SetMotionType(JPH::EMotionType::Static);
+			m_body->SetMotionType(JPH::EMotionType::Kinematic);
 		}
 	}
 
-	void JoltRigidBody3D::SetMassCenter(const Vector3f& center)
-	{
-		//m_body->GetMotionProperties()->set
-	}
-
 	void JoltRigidBody3D::SetPosition(const Vector3f& position)
 	{
 		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
-		bodyInterface.SetPosition(m_body->GetID(), ToJolt(position), JPH::EActivation::Activate);
+		bodyInterface.SetPosition(m_body->GetID(), ToJolt(position), (ShouldActivate()) ? JPH::EActivation::Activate : JPH::EActivation::DontActivate);
 	}
 
 	void JoltRigidBody3D::SetRotation(const Quaternionf& rotation)
 	{
-		JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
+		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
-		body_interface.SetRotation(m_body->GetID(), ToJolt(rotation), JPH::EActivation::Activate);
+		bodyInterface.SetRotation(m_body->GetID(), ToJolt(rotation), (ShouldActivate()) ? JPH::EActivation::Activate : JPH::EActivation::DontActivate);
 	}
 
 	void JoltRigidBody3D::TeleportTo(const Vector3f& position, const Quaternionf& rotation)
 	{
 		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
-		bodyInterface.SetPositionAndRotation(m_body->GetID(), ToJolt(position), ToJolt(rotation), JPH::EActivation::Activate);
+		bodyInterface.SetPositionAndRotation(m_body->GetID(), ToJolt(position), ToJolt(rotation), (ShouldActivate()) ? JPH::EActivation::Activate : JPH::EActivation::DontActivate);
 	}
 
-#if 0
 	Quaternionf JoltRigidBody3D::ToLocal(const Quaternionf& worldRotation)
 	{
 		return GetRotation().Conjugate() * worldRotation;
@@ -305,8 +321,7 @@ namespace Nz
 
 	Vector3f JoltRigidBody3D::ToLocal(const Vector3f& worldPosition)
 	{
-		btTransform worldTransform = m_body->getWorldTransform();
+		return FromJolt(m_body->GetInverseCenterOfMassTransform() * ToJolt(worldPosition));
-		return GetMatrix().InverseTransform() * worldPosition;
 	}
 
 	Quaternionf JoltRigidBody3D::ToWorld(const Quaternionf& localRotation)
@@ -316,45 +331,100 @@ namespace Nz
 
 	Vector3f JoltRigidBody3D::ToWorld(const Vector3f& localPosition)
 	{
-		return GetMatrix() * localPosition;
+		return FromJolt(m_body->GetCenterOfMassTransform() * ToJolt(localPosition));
 	}
-#endif
 
 	void JoltRigidBody3D::WakeUp()
 	{
-		JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
+		JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
-		body_interface.ActivateBody(m_body->GetID()); 
+		bodyInterface.ActivateBody(m_body->GetID()); 
 	}
 
-	JoltRigidBody3D& JoltRigidBody3D::operator=(JoltRigidBody3D&& object) noexcept
+	JoltRigidBody3D& JoltRigidBody3D::operator=(JoltRigidBody3D&& body) noexcept
 	{
 		Destroy();
 
-		m_body          = object.m_body;
+		m_body                = body.m_body;
-		m_bodyIndex     = object.m_bodyIndex;
+		m_bodyIndex           = body.m_bodyIndex;
-		m_geom          = std::move(object.m_geom);
+		m_geom                = std::move(body.m_geom);
-		m_world         = object.m_world;
+		m_world               = body.m_world;
+		m_isSimulationEnabled = body.m_isSimulationEnabled;
+		m_isTrigger           = body.m_isTrigger;
 
-		m_body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
+		body.m_body = nullptr;
+		body.m_bodyIndex = std::numeric_limits<UInt32>::max();
 
-		object.m_body = nullptr;
+		if (m_body)
-		object.m_bodyIndex = std::numeric_limits<UInt32>::max();
+			m_body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
 
 		return *this;
 	}
 
-	void JoltRigidBody3D::Destroy()
+	void JoltRigidBody3D::Destroy(bool worldDestruction)
 	{
 		if (m_body)
 		{
-			JPH::BodyID bodyId = m_body->GetID();
-
 			JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
-			bodyInterface.RemoveBody(bodyId);
+			m_world->UnregisterBody(m_body->GetID(), true, !worldDestruction);
-			bodyInterface.DestroyBody(bodyId);
 			m_body = nullptr;
 		}
 
 		m_geom.reset();
 	}
+
+	void JoltRigidBody3D::BuildSettings(const DynamicSettings& settings, JPH::BodyCreationSettings& creationSettings)
+	{
+		BuildSettings(static_cast<const CommonSettings&>(settings), creationSettings);
+
+		creationSettings.mAngularDamping = settings.angularDamping;
+		creationSettings.mAngularVelocity = ToJolt(settings.angularVelocity);
+		creationSettings.mLinearDamping = settings.linearDamping;
+		creationSettings.mLinearVelocity = ToJolt(settings.linearVelocity);
+		creationSettings.mFriction = settings.friction;
+		creationSettings.mGravityFactor = settings.gravityFactor;
+		creationSettings.mMaxAngularVelocity = settings.maxAngularVelocity;
+		creationSettings.mMaxLinearVelocity = settings.maxLinearVelocity;
+		creationSettings.mObjectLayer = 1;
+		creationSettings.mRestitution = settings.restitution;
+		creationSettings.mUserData = SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this));
+
+		creationSettings.mMassPropertiesOverride = creationSettings.GetShape()->GetMassProperties();
+		creationSettings.mMassPropertiesOverride.ScaleToMass(settings.mass);
+
+		creationSettings.mMotionType = (settings.mass > 0.f) ? JPH::EMotionType::Dynamic : JPH::EMotionType::Kinematic;
+
+		switch (settings.motionQuality)
+		{
+			case JoltMotionQuality::Discrete:   creationSettings.mMotionQuality = JPH::EMotionQuality::Discrete;   break;
+			case JoltMotionQuality::LinearCast: creationSettings.mMotionQuality = JPH::EMotionQuality::LinearCast; break;
+		}
+	}
+
+	void JoltRigidBody3D::BuildSettings(const StaticSettings& settings, JPH::BodyCreationSettings& creationSettings)
+	{
+		BuildSettings(static_cast<const CommonSettings&>(settings), creationSettings);
+
+		creationSettings.mMotionType = JPH::EMotionType::Static;
+	}
+
+	void JoltRigidBody3D::BuildSettings(const CommonSettings& settings, JPH::BodyCreationSettings& creationSettings)
+	{
+		if (settings.geom)
+		{
+			creationSettings.SetShapeSettings(settings.geom->GetShapeSettings());
+			creationSettings.mIsSensor = settings.isTrigger;
+		}
+		else
+		{
+			creationSettings.SetShape(m_world->GetNullShape());
+			creationSettings.mIsSensor = true; //< not the best solution but enough for now
+			creationSettings.mPosition = ToJolt(settings.position);
+			creationSettings.mRotation = ToJolt(settings.rotation);
+		}
+	}
+
+	bool JoltRigidBody3D::ShouldActivate() const
+	{
+		return m_isSimulationEnabled && m_world->IsBodyRegistered(m_bodyIndex);
+	}
 }

src/Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.cpp

@@ -28,7 +28,7 @@ namespace Nz
 		// Ensure every RigidBody3D is destroyed before world is
 		auto rigidBodyView = m_registry.view<JoltRigidBody3DComponent>();
 		for (auto [entity, rigidBodyComponent] : rigidBodyView.each())
-			rigidBodyComponent.Destroy();
+			rigidBodyComponent.Destroy(true);
 	}
 
 	void JoltPhysics3DSystem::Dump()

xmake.lua

@@ -111,7 +111,7 @@ local modules = {
 	},
 	JoltPhysics3D = {
 		Deps = {"NazaraUtility"},
-		Packages = { "joltphysics", "entt" }
+		Packages = { "joltphysics", "entt", "ordered_map" }
 	},
 	Network = {
 		Deps = {"NazaraCore"},