From ea6beee59391b2f630a4f7491bba4ac03e458182 Mon Sep 17 00:00:00 2001
From: atdunbg <atdunbg@qq.com>
Date: Sat, 3 Oct 2026 17:51:11 +0800
Subject: [PATCH] fix(physics): editor drag teleports dynamic bodies

SyncScene only reconciled static/kinematic transforms into Jolt bodies;
dragging a dynamic entity (esp. while paused, where Writeback never runs)
moved the visual but left the body -- and the collider debug wireframe --
at the old pose. Dynamic bodies now get the same drag reconciliation
(teleport + zero velocity + activate), and Writeback syncs
lastPos/lastRot to the body pose so physics motion is never misread as
editor dragging (which would teleport the body back).
---
 Engine/include/Engine/Physics/PhysicsWorld.h |  2 +-
 Engine/src/Physics/PhysicsWorld.cpp          | 26 +++++++++++++++++++-
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/Engine/include/Engine/Physics/PhysicsWorld.h b/Engine/include/Engine/Physics/PhysicsWorld.h
index 9a7c76f..6011b79 100644
--- a/Engine/include/Engine/Physics/PhysicsWorld.h
+++ b/Engine/include/Engine/Physics/PhysicsWorld.h
@@ -119,7 +119,7 @@ namespace Engine {
         };
 
         void SyncScene();    // 对账：孤儿清理 / 创建 / 参数同步
-        void Writeback() const;    // 动态体 → TransformComponent（标脏）
+        void Writeback();          // 动态体 → TransformComponent（标脏）+ lastPos/lastRot 对账基线
         void UpdateAccels(f32 dt); // 速度差分 → BodyRecord.lastAccel（step 率）
         void CollectDebugData();   // 按 m_DebugBits 收集调试图元（渲染帧率）
         void CreateBody(u32 entityBits, ECS::RigidBodyComponent& rb,
diff --git a/Engine/src/Physics/PhysicsWorld.cpp b/Engine/src/Physics/PhysicsWorld.cpp
index d488f73..2365e64 100644
--- a/Engine/src/Physics/PhysicsWorld.cpp
+++ b/Engine/src/Physics/PhysicsWorld.cpp
@@ -393,6 +393,22 @@ namespace Engine {
             bi.SetRestitution(id, rb.restitution);
             if (rb.type == ECS::RigidBodyComponent::BodyType::Dynamic) {
                 bi.SetGravityFactor(id, rb.gravityScale);
+                // 编辑器拖动 Dynamic 体（暂停期/物理未步进的帧）→ 传送 +
+                // 清速度（UE 编辑器语义：编辑器操作权威于物理 body，拖动 =
+                // 重新放置）。物理模拟中 Writeback 每步同步 lastPos/lastRot
+                // → 本比对只在真正拖动帧为真，不会打断自由模拟
+                if (rec.lastPos != tr.GetPosition() ||
+                    rec.lastRot != tr.GetRotationQuat()) {
+                    bi.SetPositionAndRotation(
+                        id,
+                        JPH::RVec3(tr.GetPosition().x, tr.GetPosition().y, tr.GetPosition().z),
+                        ToJolt(tr.GetRotationQuat()),
+                        JPH::EActivation::Activate);
+                    bi.SetLinearVelocity(id, JPH::Vec3(0.0f, 0.0f, 0.0f));
+                    bi.SetAngularVelocity(id, JPH::Vec3(0.0f, 0.0f, 0.0f));
+                    rec.lastPos = tr.GetPosition();
+                    rec.lastRot = tr.GetRotationQuat();
+                }
             } else if (rec.lastPos != tr.GetPosition() ||
                        rec.lastRot != tr.GetRotationQuat()) {
                 // 编辑器拖动静态/运动学体 → 传送 body
@@ -994,7 +1010,7 @@ namespace Engine {
 
     // ---- 写回：动态体姿态 → Transform（标脏，帧循环统一 Compose）----
 
-    void PhysicsWorld::Writeback() const {
+    void PhysicsWorld::Writeback() {
         auto &reg = m_Scene.GetRegistry();
         const auto &bi = m_System->GetBodyInterface();
 
@@ -1012,6 +1028,14 @@ namespace Engine {
 
             const JPH::Vec3 vel = bi.GetLinearVelocity(id);
             rb.velocity = glm::vec3(vel.GetX(), vel.GetY(), vel.GetZ());
+
+            // lastPos/lastRot 同步到 body 姿态：否则下帧 SyncScene 把物理
+            // 位移误判为编辑器拖动 → teleport 回旧位置死循环
+            const u32 bits = static_cast<u32>(entt::to_integral(e));
+            if (auto it = m_Bodies.find(bits); it != m_Bodies.end()) {
+                it->second.lastPos = tr.GetPosition();
+                it->second.lastRot = tr.GetRotationQuat();
+            }
         }
     }
 } // namespace Engine