Various

src/Jitter2/Collision/DynamicTree.cs

@@ -274,6 +274,7 @@ private void UpdateBoundingBoxesCallback(Parallel.Batch batch)
     /// <param name="proxy">The entity to update.</param>
     public void Update<T>(T proxy) where T : class, IDynamicTreeProxy
     {
+        if (proxy is IUpdatableBoundingBox sh) sh.UpdateWorldBoundingBox();
         OverlapCheckRemove(root, proxy.NodePtr);
         InternalRemoveProxy(proxy);
         InternalAddProxy(proxy);

src/Jitter2/Collision/IDynamicTreeProxy.cs

@@ -55,7 +55,7 @@ public interface IUpdatableBoundingBox
     /// <summary>
     /// Updates the bounding box.
     /// </summary>
-    public void UpdateWorldBoundingBox(Real dt);
+    public void UpdateWorldBoundingBox(Real dt = (Real)0.0);
 }
 
 /// <summary>

src/Jitter2/Dynamics/Joints/HingeJoint.cs

@@ -66,10 +66,4 @@ public HingeJoint(World world, RigidBody body1, RigidBody body2, JVector hingeCe
         this(world, body1, body2, hingeCenter, hingeAxis, AngularLimit.Full, hasMotor)
     {
     }
-
-    public void DebugDraw(IDebugDrawer drawer)
-    {
-        HingeAngle.DebugDraw(drawer);
-        BallSocket.DebugDraw(drawer);
-    }
 }

src/Jitter2/Dynamics/Joints/Joint.cs

@@ -26,18 +26,18 @@
 
 namespace Jitter2.Dynamics.Constraints;
 
-public class Joint
+public class Joint : IDebugDrawable
 {
     private readonly List<Constraint> constraints = new(4);
     public ReadOnlyList<Constraint> Constraints => new ReadOnlyList<Constraint>(constraints);
 
     /// <summary>
-    /// Add a constraint to the internal book keeping
+    /// Add a constraint to the internal bookkeeping
     /// </summary>
     protected void Register(Constraint constraint) => constraints.Add(constraint);
 
     /// <summary>
-    /// Remove a constraint from the internal book keeping
+    /// Remove a constraint from the internal bookkeeping
     /// </summary>
     protected void Deregister(Constraint constraint) => constraints.Remove(constraint);
 
@@ -79,4 +79,12 @@ public void Remove()
 
         constraints.Clear();
     }
+
+    public virtual void DebugDraw(IDebugDrawer drawer)
+    {
+        foreach (var constraint in constraints)
+        {
+            constraint.DebugDraw(drawer);
+        }
+    }
 }

src/Jitter2/Dynamics/Joints/PrismaticJoint.cs

@@ -78,10 +78,4 @@ public PrismaticJoint(World world, RigidBody body1, RigidBody body2, JVector cen
             Register(Motor);
         }
     }
-
-    public void DebugDraw(IDebugDrawer drawer)
-    {
-        Slider.DebugDraw(drawer);
-        // TODO: ..
-    }
 }

src/Jitter2/Dynamics/RigidBody.cs

@@ -337,9 +337,10 @@ public JQuaternion Orientation
     private void Move()
     {
         UpdateWorldInertia();
-        foreach (RigidBodyShape shape in shapes)
+
+        foreach (var shape in shapes)
         {
-            World.UpdateShape(shape);
+            World.DynamicTree.Update(shape);
         }
 
         World.ActivateBodyNextStep(this);

src/Jitter2/IDebugDrawer.cs

@@ -25,11 +25,21 @@
 
 namespace Jitter2;
 
+/// <summary>
+/// Defines an interface for objects that can be debug-drawn.
+/// </summary>
 public interface IDebugDrawable
 {
+    /// <summary>
+    /// Passes an <see cref="IDebugDrawer"/> to draw basic debug information for the object.
+    /// </summary>
+    /// <param name="drawer">The debug drawer used for rendering debug information.</param>
     public void DebugDraw(IDebugDrawer drawer);
 }
 
+/// <summary>
+/// Defines an interface for drawing debug visualization elements.
+/// </summary>
 public interface IDebugDrawer
 {
     public void DrawSegment(in JVector pA, in JVector pB);

src/Jitter2/LinearMath/Interop.cs

@@ -0,0 +1,20 @@
+namespace Jitter2.LinearMath;
+
+using System.Numerics;
+
+// Enables implicit conversion between JVector/JQuaternion and .NET's own numeric types (Vector3 and Quaternion).
+// This allows seamless interoperability with .NET libraries that use these types.
+
+public partial struct JVector
+{
+    public static implicit operator Vector3(in JVector v) => new((float)v.X, (float)v.Y, (float)v.Z); // Unsafe.As<JVector, Vector3>(ref Unsafe.AsRef(v));
+
+    public static implicit operator JVector(in Vector3 v) => new(v.X, v.Y, v.Z); // Unsafe.As<Vector3, JVector>(ref Unsafe.AsRef(v));
+}
+
+public partial struct JQuaternion
+{
+    public static implicit operator Quaternion(in JQuaternion q) => new((float)q.X, (float)q.Y, (float)q.Z, (float)q.W); // Unsafe.As<JQuaternion, Quaternion>(ref Unsafe.AsRef(q));
+
+    public static implicit operator JQuaternion(in Quaternion q) => new(q.X, q.Y, q.Z, q.W); // Unsafe.As<Quaternion, JQuaternion>(ref Unsafe.AsRef(q));
+}

src/Jitter2/LinearMath/JQuaternion.cs

@@ -31,7 +31,7 @@ namespace Jitter2.LinearMath;
 /// Quaternion Q = Xi + Yj + Zk + W. Uses Hamilton's definition of ij=k.
 /// </summary>
 [StructLayout(LayoutKind.Explicit, Size = 4*sizeof(Real))]
-public struct JQuaternion : IEquatable<JQuaternion>
+public partial struct JQuaternion : IEquatable<JQuaternion>
 {
     [FieldOffset(0*sizeof(Real))] public Real X;
     [FieldOffset(1*sizeof(Real))] public Real Y;

src/Jitter2/LinearMath/JVector.cs

@@ -31,7 +31,7 @@ namespace Jitter2.LinearMath;
 /// Represents a three-dimensional vector with components of type <see cref="Real"/>.
 /// </summary>
 [StructLayout(LayoutKind.Explicit, Size = 3*sizeof(Real))]
-public struct JVector : IEquatable<JVector>
+public partial struct JVector : IEquatable<JVector>
 {
     internal static JVector InternalZero;
     internal static JVector Arbitrary;

src/Jitter2/World.cs

@@ -370,12 +370,6 @@ public void Remove(Arbiter arbiter)
         arbiter.Handle = JHandle<ContactData>.Zero;
     }
 
-    internal void UpdateShape(RigidBodyShape shape)
-    {
-        shape.UpdateWorldBoundingBox();
-        DynamicTree.Update(shape);
-    }
-
     internal void ActivateBodyNextStep(RigidBody body)
     {
         body.sleepTime = 0;

src/JitterDemo/Renderer/DebugRenderer.cs

@@ -54,7 +54,7 @@ void main()
         ";
 
     private static readonly string fshader = @"
-        #version 420 core
+        #version 330 core
 
         uniform vec4 color;