From df1c273107dff7ea8cbedfc1d7a929c1b0aeb0df Mon Sep 17 00:00:00 2001
From: Mark <markeasting@gmail.com>
Date: Sun, 26 Nov 2023 12:03:36 +0100
Subject: [PATCH] Added RigidBody.expandAABB()

---
 src/physics/Collider.ts          | 6 ++++++
 src/physics/RigidBody.ts         | 6 ++++--
 src/physics/solver/XPBDSolver.ts | 4 +---
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/src/physics/Collider.ts b/src/physics/Collider.ts
index 8e600ce..3ef6ff8 100644
--- a/src/physics/Collider.ts
+++ b/src/physics/Collider.ts
@@ -26,6 +26,12 @@ export class Collider {
     expanded_aabb = new Box3();
     aabbHelper = new Box3Helper(this.expanded_aabb);
 
+    public expandAABB(scalar: number): void {
+        this.expanded_aabb
+            .copy(this.aabb)
+            .expandByScalar(scalar);
+    }
+
     public updateGlobalPose(pose: Pose): void {
         // console.log('updateRotation not implemented')
     }
diff --git a/src/physics/RigidBody.ts b/src/physics/RigidBody.ts
index 3ba5ff2..a197b3f 100644
--- a/src/physics/RigidBody.ts
+++ b/src/physics/RigidBody.ts
@@ -168,8 +168,6 @@ export class RigidBody {
 
         this.prevPose.copy(this.pose); // Just in case pose was changed directly after setting static
 
-        this.collider.expanded_aabb.copy(this.collider.aabb);
-
         this.updateGeometry();
         this.updateCollider();
 
@@ -383,6 +381,10 @@ export class RigidBody {
     }
 
     public updateCollider() {
+        if (!this.isDynamic) {
+            this.collider.expandAABB(1.0);
+        }
+        
         this.collider.updateGlobalPose(this.pose);
     }
 
diff --git a/src/physics/solver/XPBDSolver.ts b/src/physics/solver/XPBDSolver.ts
index 5197aff..23f6b73 100644
--- a/src/physics/solver/XPBDSolver.ts
+++ b/src/physics/solver/XPBDSolver.ts
@@ -86,9 +86,7 @@ export class XPBDSolver extends BaseSolver {
                 continue;
 
             /* (3.5) k * dt * vbody */
-            body.collider.expanded_aabb
-                .copy(body.collider.aabb)
-                .expandByScalar(2.0 * dt * body.vel.length());
+            body.collider.expandAABB(2.0 * dt * body.vel.length());
 
             body.force.set(0, 0, 0);
             body.torque.set(0, 0, 0);