feat: add more collider types + camera snapping fix

destrum/CMakeLists.txt

@@ -54,6 +54,10 @@ set(SRC_FILES
         "src/Components/Physics/BoxCollider.cpp"
         "src/Components/Physics/CapsuleCollider.cpp"
         "src/Components/Physics/Collider.cpp"
+        "src/Components/Physics/ConvexHullCollider.cpp"
+        "src/Components/Physics/CylinderCollider.cpp"
+        "src/Components/Physics/MeshCollider.cpp"
+        "src/Components/Physics/MeshShapeCollider.cpp"
         "src/Components/Physics/SphereCollider.cpp"
 
         "src/Components/UI/Canvas.cpp"
@@ -137,6 +141,7 @@ set(SRC_FILES
         "src/Threading/JobSystem.cpp"
 
         "src/Physics/PhysicsWorld.cpp"
+        "src/Physics/PhysicsMeshCache.cpp"
         "src/Physics/PhysicsSceneBridge.cpp"
         "src/Physics/JoltPhysicsWorld.cpp"
 )

destrum/include/destrum/Components/Physics/ConvexHullCollider.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <algorithm>
+
+#include <destrum/Components/Physics/MeshShapeCollider.h>
+
+class ConvexHullCollider final : public MeshShapeCollider {
+public:
+    static constexpr int MinVertices = 4;
+    static constexpr int MaxVertices = 256;
+
+    explicit ConvexHullCollider(GameObject& owner, int maxVertices = 64)
+        : MeshShapeCollider(owner)
+        , m_MaxVertices(std::clamp(maxVertices, MinVertices, MaxVertices)) {}
+
+    std::string GetTypeName() const override {
+        return "ConvexHullCollider";
+    }
+
+    nlohmann::json Serialize() const override;
+    void Deserialize(const nlohmann::json& data) override;
+    void ImGuiInspector() override;
+
+    void DrawDebugLines(const glm::vec4& color) const override;
+
+    [[nodiscard]] PhysicsShapeDesc BuildPhysicsShape() const override {
+        return BuildConvexHullShape(m_MaxVertices);
+    }
+
+    [[nodiscard]] int GetMaxVertices() const {
+        return m_MaxVertices;
+    }
+
+    void SetMaxVertices(int maxVertices) {
+        m_MaxVertices = std::clamp(maxVertices, MinVertices, MaxVertices);
+        NotifyPhysicsChanged();
+    }
+
+private:
+    int m_MaxVertices{64};
+};

destrum/include/destrum/Components/Physics/CylinderCollider.h

@@ -0,0 +1,66 @@
+#pragma once
+
+#include <algorithm>
+
+#include <destrum/Components/Physics/Collider.h>
+
+class CylinderCollider final : public Collider {
+public:
+    explicit CylinderCollider(GameObject& owner, float radius = 0.5f, float height = 1.0f)
+        : Collider(owner)
+        , m_Radius(std::max(radius, 0.0001f))
+        , m_Height(std::max(height, 0.0001f)) {}
+
+    void Update(float) override {}
+
+    std::string GetTypeName() const override {
+        return "CylinderCollider";
+    }
+
+    void ImGuiInspector() override;
+
+    nlohmann::json Serialize() const override {
+        auto data = SerializeCollider();
+        data["radius"] = m_Radius;
+        data["height"] = m_Height;
+        return data;
+    }
+
+    void Deserialize(const nlohmann::json& data) override {
+        DeserializeCollider(data);
+        if (data.contains("radius")) {
+            SetRadius(data.at("radius").get<float>());
+        }
+        if (data.contains("height")) {
+            SetHeight(data.at("height").get<float>());
+        }
+    }
+
+    void DrawDebugLines(const glm::vec4& color) const override;
+
+    [[nodiscard]] PhysicsShapeDesc BuildPhysicsShape() const override {
+        return PhysicsShapeDesc::Cylinder(m_Radius, m_Height, m_CenterOffset, m_IsTrigger);
+    }
+
+    [[nodiscard]] float GetRadius() const {
+        return m_Radius;
+    }
+
+    void SetRadius(float radius) {
+        m_Radius = std::max(radius, 0.0001f);
+        NotifyPhysicsChanged();
+    }
+
+    [[nodiscard]] float GetHeight() const {
+        return m_Height;
+    }
+
+    void SetHeight(float height) {
+        m_Height = std::max(height, 0.0001f);
+        NotifyPhysicsChanged();
+    }
+
+private:
+    float m_Radius{0.5f};
+    float m_Height{1.0f};
+};

destrum/include/destrum/Components/Physics/MeshCollider.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <destrum/Components/Physics/MeshShapeCollider.h>
+
+// Exact triangle mesh for static and kinematic bodies. Dynamic bodies can't use one, they get a convex hull instead.
+class MeshCollider final : public MeshShapeCollider {
+public:
+    static constexpr int DynamicHullVertices = 64;
+
+    explicit MeshCollider(GameObject& owner)
+        : MeshShapeCollider(owner) {}
+
+    std::string GetTypeName() const override {
+        return "MeshCollider";
+    }
+
+    nlohmann::json Serialize() const override {
+        return SerializeCollider();
+    }
+
+    void Deserialize(const nlohmann::json& data) override {
+        DeserializeCollider(data);
+    }
+
+    void ImGuiInspector() override;
+
+    void DrawDebugLines(const glm::vec4& color) const override;
+
+    [[nodiscard]] PhysicsShapeDesc BuildPhysicsShape() const override;
+
+    [[nodiscard]] bool UsesConvexFallback() const;
+};

destrum/include/destrum/Components/Physics/MeshShapeCollider.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <memory>
+
+#include <destrum/Components/Physics/Collider.h>
+
+// Base for colliders shaped by the MeshRendererComponent on the same object. Unlike the primitive colliders,
+// the mesh is in local units, so the transform's world scale is applied.
+class MeshShapeCollider : public Collider {
+public:
+    explicit MeshShapeCollider(GameObject& owner)
+        : Collider(owner) {}
+
+    void Update(float) override {}
+
+    void ImGuiInspector() override;
+
+    // Used instead of the MeshRenderer mesh, not serialized
+    void SetCustomMesh(std::shared_ptr<const PhysicsMeshData> mesh) {
+        m_CustomMesh = std::move(mesh);
+        NotifyPhysicsChanged();
+    }
+
+    [[nodiscard]] std::shared_ptr<const PhysicsMeshData> GetSourceMesh() const;
+
+protected:
+    [[nodiscard]] glm::vec3 GetShapeScale() const;
+    [[nodiscard]] glm::mat4 GetShapeMatrix() const;
+
+    // Falls back to a box around the mesh when it has no volume
+    [[nodiscard]] PhysicsShapeDesc BuildConvexHullShape(int maxVertices) const;
+    void DrawConvexHull(int maxVertices, const glm::vec4& color) const;
+
+private:
+    std::shared_ptr<const PhysicsMeshData> m_CustomMesh;
+};

destrum/include/destrum/Graphics/DebugDraw.h

@@ -4,6 +4,9 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
 
+#include <cstdint>
+#include <vector>
+
 namespace DebugDraw {
     void Arc(const glm::vec3& center, const glm::vec3& axisA, const glm::vec3& axisB, float radius,
              float fromAngle, float toAngle, const glm::vec4& color, int segments = 16);
@@ -14,6 +17,12 @@ namespace DebugDraw {
     void Sphere(const glm::vec3& center, float radius, const glm::vec4& color);
 
     void Capsule(const glm::vec3& center, const glm::quat& rotation, float radius, float height, const glm::vec4& color);
+    void Cylinder(const glm::vec3& center, const glm::quat& rotation, float radius, float height, const glm::vec4& color);
+
+    // Wireframe of an indexed triangle list, stops after maxTriangles
+    void Triangles(const glm::mat4& transform, const std::vector<glm::vec3>& points,
+                   const std::vector<std::uint32_t>& indices, const glm::vec4& color,
+                   std::size_t maxTriangles = 20000);
 }
 
 #endif // DEBUGDRAW_H

destrum/include/destrum/Physics/PhysicsMeshCache.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <destrum/Physics/PhysicsTypes.h>
+
+struct CPUMesh;
+
+// Shares collision data between colliders using the same mesh, so physics backends can share their shapes too.
+// Main thread only.
+namespace PhysicsMeshCache {
+    [[nodiscard]] std::shared_ptr<const PhysicsMeshData> FromCPUMesh(const std::string& key, const CPUMesh& mesh);
+
+    // Null when the points don't span a volume (e.g. a plane)
+    [[nodiscard]] std::shared_ptr<const PhysicsMeshData> ConvexHull(const std::shared_ptr<const PhysicsMeshData>& source,
+                                                                    int maxVertices);
+}

destrum/include/destrum/Physics/PhysicsTypes.h

@@ -2,6 +2,8 @@
 
 #include <cstdint>
 #include <limits>
+#include <memory>
+#include <vector>
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
 
@@ -17,7 +19,10 @@ enum class PhysicsShapeType {
     None,
     Box,
     Sphere,
-    Capsule
+    Capsule,
+    Cylinder,
+    ConvexHull,
+    Mesh
 };
 
 struct PhysicsBodyHandle {
@@ -50,6 +55,12 @@ struct PhysicsMaterialDesc {
     float restitution{0.0f};
 };
 
+// Triangles share vertices through indices. A convex hull only uses the points, the indices are for drawing it.
+struct PhysicsMeshData {
+    std::vector<glm::vec3> points;
+    std::vector<std::uint32_t> indices;
+};
+
 struct PhysicsShapeDesc {
     PhysicsShapeType type{PhysicsShapeType::None};
 
@@ -59,9 +70,14 @@ struct PhysicsShapeDesc {
     // Sphere / capsule
     float radius{0.5f};
 
-    // Capsule full height, including the two hemispheres.
+    // Capsule full height, including the two hemispheres. Cylinder full height.
     float height{2.0f};
 
+    // Convex hull / mesh, in the collider's local space before scale. Backends may cache
+    // shapes per mesh data, so it must not be modified once shared.
+    std::shared_ptr<const PhysicsMeshData> mesh;
+    glm::vec3 scale{1.0f};
+
     // Local offset from the rigidbody transform.
     glm::vec3 centerOffset{0.0f};
 
@@ -101,6 +117,45 @@ struct PhysicsShapeDesc {
         desc.isTrigger = isTrigger;
         return desc;
     }
+
+    [[nodiscard]] static PhysicsShapeDesc Cylinder(float radius,
+                                                   float height,
+                                                   const glm::vec3& centerOffset = glm::vec3{0.0f},
+                                                   bool isTrigger = false) {
+        PhysicsShapeDesc desc{};
+        desc.type = PhysicsShapeType::Cylinder;
+        desc.radius = radius;
+        desc.height = height;
+        desc.centerOffset = centerOffset;
+        desc.isTrigger = isTrigger;
+        return desc;
+    }
+
+    [[nodiscard]] static PhysicsShapeDesc ConvexHull(std::shared_ptr<const PhysicsMeshData> hull,
+                                                     const glm::vec3& scale = glm::vec3{1.0f},
+                                                     const glm::vec3& centerOffset = glm::vec3{0.0f},
+                                                     bool isTrigger = false) {
+        PhysicsShapeDesc desc{};
+        desc.type = PhysicsShapeType::ConvexHull;
+        desc.mesh = std::move(hull);
+        desc.scale = scale;
+        desc.centerOffset = centerOffset;
+        desc.isTrigger = isTrigger;
+        return desc;
+    }
+
+    [[nodiscard]] static PhysicsShapeDesc Mesh(std::shared_ptr<const PhysicsMeshData> mesh,
+                                               const glm::vec3& scale = glm::vec3{1.0f},
+                                               const glm::vec3& centerOffset = glm::vec3{0.0f},
+                                               bool isTrigger = false) {
+        PhysicsShapeDesc desc{};
+        desc.type = PhysicsShapeType::Mesh;
+        desc.mesh = std::move(mesh);
+        desc.scale = scale;
+        desc.centerOffset = centerOffset;
+        desc.isTrigger = isTrigger;
+        return desc;
+    }
 };
 
 struct PhysicsBodyDesc {

destrum/include/destrum/Serialization/EngineComponentList.h

@@ -12,6 +12,9 @@
 #include <destrum/Components/Spinner.h>
 #include <destrum/Components/Physics/BoxCollider.h>
 #include <destrum/Components/Physics/CapsuleCollider.h>
+#include <destrum/Components/Physics/ConvexHullCollider.h>
+#include <destrum/Components/Physics/CylinderCollider.h>
+#include <destrum/Components/Physics/MeshCollider.h>
 #include <destrum/Components/Physics/Rigidbody.h>
 #include <destrum/Components/Physics/SphereCollider.h>
 #include <destrum/Components/UI/Canvas.h>
@@ -32,7 +35,7 @@
     X(Rigidbody) \
     X(BoxCollider) \
     X(SphereCollider) \
-    X(CapsuleCollider) \
+    X(CapsuleCollider)     X(CylinderCollider)     X(ConvexHullCollider)     X(MeshCollider) \
     X(Canvas) \
     X(RectTransform) \
     X(UIImage) \

destrum/src/Components/MeshRendererComponent.cpp

@@ -1,6 +1,7 @@
 #include <destrum/Components/MeshRendererComponent.h>
 #include <destrum/Assets/AssetDatabase.h>
 #include <destrum/Assets/AssetReference.h>
+#include <destrum/Components/Physics/MeshShapeCollider.h>
 #include <destrum/Serialization/MaterialSerialization.h>
 #include <destrum/Graphics/GfxDevice.h>
 #include <destrum/Graphics/Resources/PrimitiveMeshes.h>
@@ -254,6 +255,9 @@ void MeshRendererComponent::SetMeshID(MeshID id) {
             meshKey = resources->meshes().getMeshKey(id);
         }
     }
+    if (GetGameObject()->GetComponent<MeshShapeCollider>() != nullptr) {
+        NotifyPhysicsChanged();
+    }
 }
 
 void MeshRendererComponent::SetMaterialID(MaterialID id) {

destrum/src/Components/Physics/ConvexHullCollider.cpp

@@ -0,0 +1,29 @@
+#include <destrum/Components/Physics/ConvexHullCollider.h>
+
+#include <imgui.h>
+
+nlohmann::json ConvexHullCollider::Serialize() const {
+    auto data = SerializeCollider();
+    data["maxVertices"] = m_MaxVertices;
+    return data;
+}
+
+void ConvexHullCollider::Deserialize(const nlohmann::json& data) {
+    DeserializeCollider(data);
+    if (data.contains("maxVertices")) {
+        SetMaxVertices(data.at("maxVertices").get<int>());
+    }
+}
+
+void ConvexHullCollider::DrawDebugLines(const glm::vec4& color) const {
+    DrawConvexHull(m_MaxVertices, color);
+}
+
+void ConvexHullCollider::ImGuiInspector() {
+    MeshShapeCollider::ImGuiInspector();
+
+    int maxVertices = m_MaxVertices;
+    if (ImGui::SliderInt("Max vertices", &maxVertices, MinVertices, MaxVertices)) {
+        SetMaxVertices(maxVertices);
+    }
+}

destrum/src/Components/Physics/CylinderCollider.cpp

@@ -0,0 +1,23 @@
+#include <destrum/Components/Physics/CylinderCollider.h>
+
+#include <destrum/Graphics/DebugDraw.h>
+
+#include <imgui.h>
+
+void CylinderCollider::DrawDebugLines(const glm::vec4& color) const {
+    DebugDraw::Cylinder(GetWorldCenter(), GetWorldRotation(), m_Radius, m_Height, color);
+}
+
+void CylinderCollider::ImGuiInspector() {
+    Collider::ImGuiInspector();
+
+    float radius = m_Radius;
+    if (ImGui::DragFloat("Radius", &radius, 0.05f, 0.0001f)) {
+        SetRadius(radius);
+    }
+
+    float height = m_Height;
+    if (ImGui::DragFloat("Height", &height, 0.05f, 0.0001f)) {
+        SetHeight(height);
+    }
+}

destrum/src/Components/Physics/MeshCollider.cpp

@@ -0,0 +1,43 @@
+#include <destrum/Components/Physics/MeshCollider.h>
+
+#include <imgui.h>
+
+#include <destrum/Components/Physics/Rigidbody.h>
+#include <destrum/Graphics/DebugDraw.h>
+#include <destrum/ObjectModel/GameObject.h>
+
+bool MeshCollider::UsesConvexFallback() const {
+    const auto* rigidbody = GetGameObject()->GetComponent<Rigidbody>();
+    return rigidbody != nullptr && rigidbody->GetType() == RigidbodyType::Dynamic;
+}
+
+PhysicsShapeDesc MeshCollider::BuildPhysicsShape() const {
+    if (UsesConvexFallback()) {
+        return BuildConvexHullShape(DynamicHullVertices);
+    }
+
+    auto source = GetSourceMesh();
+    if (!source || source->indices.empty()) {
+        return {};
+    }
+    return PhysicsShapeDesc::Mesh(std::move(source), GetShapeScale(), m_CenterOffset, m_IsTrigger);
+}
+
+void MeshCollider::DrawDebugLines(const glm::vec4& color) const {
+    if (UsesConvexFallback()) {
+        DrawConvexHull(DynamicHullVertices, color);
+        return;
+    }
+
+    if (const auto source = GetSourceMesh()) {
+        DebugDraw::Triangles(GetShapeMatrix(), source->points, source->indices, color);
+    }
+}
+
+void MeshCollider::ImGuiInspector() {
+    MeshShapeCollider::ImGuiInspector();
+
+    if (UsesConvexFallback()) {
+        ImGui::TextColored(ImVec4{1.0f, 0.6f, 0.2f, 1.0f}, "Dynamic rigidbody: using a convex hull");
+    }
+}

destrum/src/Components/Physics/MeshShapeCollider.cpp

@@ -0,0 +1,118 @@
+#include <destrum/Components/Physics/MeshShapeCollider.h>
+
+#include <cmath>
+#include <limits>
+
+#include <imgui.h>
+
+#include <glm/gtc/matrix_transform.hpp>
+
+#include <destrum/Components/MeshRendererComponent.h>
+#include <destrum/Graphics/DebugDraw.h>
+#include <destrum/Graphics/RenderResources.h>
+#include <destrum/Graphics/Renderer.h>
+#include <destrum/ObjectModel/GameObject.h>
+#include <destrum/ObjectModel/Transform.h>
+#include <destrum/Physics/PhysicsMeshCache.h>
+#include <destrum/Util/GameState.h>
+
+namespace {
+    struct Bounds {
+        glm::vec3 center{0.0f};
+        glm::vec3 halfExtents{0.0f};
+    };
+
+    Bounds ComputeBounds(const PhysicsMeshData& mesh) {
+        glm::vec3 min{std::numeric_limits<float>::max()};
+        glm::vec3 max{std::numeric_limits<float>::lowest()};
+        for (const glm::vec3& point : mesh.points) {
+            min = glm::min(min, point);
+            max = glm::max(max, point);
+        }
+        return {(min + max) * 0.5f, (max - min) * 0.5f};
+    }
+}
+
+std::shared_ptr<const PhysicsMeshData> MeshShapeCollider::GetSourceMesh() const {
+    if (m_CustomMesh) {
+        return m_CustomMesh;
+    }
+
+    const auto* meshRenderer = GetGameObject()->GetComponent<MeshRendererComponent>();
+    if (meshRenderer == nullptr || meshRenderer->GetMeshID() == NULL_MESH_ID || !GameState::GetInstance().HasRenderer()) {
+        return nullptr;
+    }
+
+    const RenderResources* resources = GameState::GetInstance().Renderer().getResources();
+    if (resources == nullptr || !resources->meshes().isValid(meshRenderer->GetMeshID())) {
+        return nullptr;
+    }
+
+    const MeshCache& meshes = resources->meshes();
+    return PhysicsMeshCache::FromCPUMesh(meshes.getMeshKey(meshRenderer->GetMeshID()),
+                                         meshes.getCPUMesh(meshRenderer->GetMeshID()));
+}
+
+glm::vec3 MeshShapeCollider::GetShapeScale() const {
+    glm::vec3 scale = GetTransform().GetWorldScale();
+    for (int axis = 0; axis < 3; ++axis) {
+        if (std::abs(scale[axis]) < 0.0001f) {
+            scale[axis] = scale[axis] < 0.0f ? -0.0001f : 0.0001f;
+        }
+    }
+    return scale;
+}
+
+glm::mat4 MeshShapeCollider::GetShapeMatrix() const {
+    return glm::translate(glm::mat4{1.0f}, GetWorldCenter()) *
+           glm::mat4_cast(GetWorldRotation()) *
+           glm::scale(glm::mat4{1.0f}, GetShapeScale());
+}
+
+PhysicsShapeDesc MeshShapeCollider::BuildConvexHullShape(int maxVertices) const {
+    const auto source = GetSourceMesh();
+    if (!source || source->points.empty()) {
+        return {};
+    }
+
+    const glm::vec3 scale = GetShapeScale();
+    if (auto hull = PhysicsMeshCache::ConvexHull(source, maxVertices)) {
+        return PhysicsShapeDesc::ConvexHull(std::move(hull), scale, m_CenterOffset, m_IsTrigger);
+    }
+
+    const Bounds bounds = ComputeBounds(*source);
+    return PhysicsShapeDesc::Box(glm::max(glm::abs(bounds.halfExtents * scale), glm::vec3{0.01f}),
+                                 m_CenterOffset + bounds.center * scale,
+                                 m_IsTrigger);
+}
+
+void MeshShapeCollider::DrawConvexHull(int maxVertices, const glm::vec4& color) const {
+    const auto source = GetSourceMesh();
+    if (!source || source->points.empty()) {
+        return;
+    }
+
+    if (const auto hull = PhysicsMeshCache::ConvexHull(source, maxVertices)) {
+        DebugDraw::Triangles(GetShapeMatrix(), hull->points, hull->indices, color);
+        return;
+    }
+
+    const Bounds bounds = ComputeBounds(*source);
+    const glm::vec3 scale = GetShapeScale();
+    DebugDraw::Box(GetWorldCenter() + GetWorldRotation() * (bounds.center * scale),
+                   GetWorldRotation(),
+                   glm::max(glm::abs(bounds.halfExtents * scale), glm::vec3{0.01f}),
+                   color);
+}
+
+void MeshShapeCollider::ImGuiInspector() {
+    Collider::ImGuiInspector();
+
+    if (m_CustomMesh) {
+        ImGui::TextDisabled("Custom mesh: %zu points", m_CustomMesh->points.size());
+    } else if (const auto source = GetSourceMesh()) {
+        ImGui::TextDisabled("Mesh: %zu vertices, %zu triangles", source->points.size(), source->indices.size() / 3);
+    } else {
+        ImGui::TextColored(ImVec4{1.0f, 0.6f, 0.2f, 1.0f}, "Needs a MeshRendererComponent with a mesh");
+    }
+}

destrum/src/Graphics/DebugDraw.cpp

@@ -94,3 +94,49 @@ void DebugDraw::Capsule(const glm::vec3& center, const glm::quat& rotation, floa
     Arc(bottom, right, up, radius, pi, glm::two_pi<float>(), color);
     Arc(bottom, forward, up, radius, pi, glm::two_pi<float>(), color);
 }
+
+void DebugDraw::Cylinder(const glm::vec3& center, const glm::quat& rotation, float radius, float height,
+                         const glm::vec4& color)
+{
+    const glm::vec3 right = rotation * glm::vec3{1.0f, 0.0f, 0.0f};
+    const glm::vec3 up = rotation * glm::vec3{0.0f, 1.0f, 0.0f};
+    const glm::vec3 forward = rotation * glm::vec3{0.0f, 0.0f, 1.0f};
+
+    const glm::vec3 top = center + up * (height * 0.5f);
+    const glm::vec3 bottom = center - up * (height * 0.5f);
+
+    Circle(top, right, forward, radius, color);
+    Circle(bottom, right, forward, radius, color);
+
+    auto& lines = LineRenderingManager::GetInstance();
+    for (const glm::vec3& side : {right, -right, forward, -forward}) {
+        lines.SubmitLine(top + side * radius, bottom + side * radius, color);
+    }
+}
+
+void DebugDraw::Triangles(const glm::mat4& transform, const std::vector<glm::vec3>& points,
+                          const std::vector<std::uint32_t>& indices, const glm::vec4& color,
+                          std::size_t maxTriangles)
+{
+    auto& lines = LineRenderingManager::GetInstance();
+    const auto at = [&](std::uint32_t index) {
+        return glm::vec3(transform * glm::vec4(points[index], 1.0f));
+    };
+
+    const std::size_t count = std::min(indices.size() / 3, maxTriangles);
+    for (std::size_t triangle = 0; triangle < count; ++triangle) {
+        const std::uint32_t ia = indices[triangle * 3];
+        const std::uint32_t ib = indices[triangle * 3 + 1];
+        const std::uint32_t ic = indices[triangle * 3 + 2];
+        if (std::max({ia, ib, ic}) >= points.size()) {
+            continue;
+        }
+
+        const glm::vec3 a = at(ia);
+        const glm::vec3 b = at(ib);
+        const glm::vec3 c = at(ic);
+        lines.SubmitLine(a, b, color);
+        lines.SubmitLine(b, c, color);
+        lines.SubmitLine(c, a, color);
+    }
+}

destrum/src/Physics/JoltPhysicsWorld.cpp

@@ -16,7 +16,11 @@
 #include <Jolt/Physics/Collision/RayCast.h>
 #include <Jolt/Physics/Collision/Shape/BoxShape.h>
 #include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
+#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
+#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
+#include <Jolt/Physics/Collision/Shape/MeshShape.h>
 #include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
+#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
 #include <Jolt/Physics/Collision/Shape/SphereShape.h>
 #include <Jolt/Physics/PhysicsSystem.h>
 #include <Jolt/RegisterTypes.h>
@@ -34,7 +38,9 @@
 #include <unordered_set>
 #include <vector>
 
+#include <glm/gtc/epsilon.hpp>
 #include <glm/gtx/norm.hpp>
+#include <spdlog/spdlog.h>
 
 #include <destrum/Components/Physics/Rigidbody.h>
 #include <destrum/ObjectModel/GameObject.h>
@@ -270,6 +276,46 @@ namespace
         return type == RigidbodyType::Static ? Layers::NON_MOVING : Layers::MOVING;
     }
 
+    [[nodiscard]] ShapeRefC CheckedCreate(const ShapeSettings& settings, const char* what)
+    {
+        ShapeSettings::ShapeResult result = settings.Create();
+        if (!result.IsValid())
+        {
+            throw std::runtime_error(
+                std::string("Failed to create Jolt ") + what + " shape: " + std::string(result.GetError()));
+        }
+        return result.Get();
+    }
+
+    [[nodiscard]] ShapeRefC CreateConvexHullShape(const PhysicsMeshData& hull)
+    {
+        Array<Vec3> points;
+        points.reserve(hull.points.size());
+        for (const glm::vec3& point : hull.points)
+        {
+            points.push_back(ToJoltVec3(point));
+        }
+        return CheckedCreate(ConvexHullShapeSettings(points), "convex hull");
+    }
+
+    [[nodiscard]] ShapeRefC CreateMeshShape(const PhysicsMeshData& mesh)
+    {
+        VertexList vertices;
+        vertices.reserve(mesh.points.size());
+        for (const glm::vec3& point : mesh.points)
+        {
+            vertices.push_back(Float3(point.x, point.y, point.z));
+        }
+
+        IndexedTriangleList triangles;
+        triangles.reserve(mesh.indices.size() / 3);
+        for (std::size_t i = 0; i + 2 < mesh.indices.size(); i += 3)
+        {
+            triangles.push_back(IndexedTriangle(mesh.indices[i], mesh.indices[i + 1], mesh.indices[i + 2]));
+        }
+        return CheckedCreate(MeshShapeSettings(std::move(vertices), std::move(triangles)), "mesh");
+    }
+
     [[nodiscard]] ShapeRefC CreateJoltShape(const PhysicsShapeDesc& desc)
     {
         switch (desc.type)
@@ -298,6 +344,17 @@ namespace
                 return new CapsuleShape(halfCylinderHeight, desc.radius);
             }
 
+        case PhysicsShapeType::Cylinder:
+            {
+                const float halfHeight = std::max(0.0001f, desc.height * 0.5f);
+                const float convexRadius = std::min({cDefaultConvexRadius, halfHeight, desc.radius});
+                return new CylinderShape(halfHeight, desc.radius, convexRadius);
+            }
+
+        case PhysicsShapeType::ConvexHull:
+        case PhysicsShapeType::Mesh:
+            throw std::runtime_error("Mesh based shapes are created through the shape cache.");
+
         case PhysicsShapeType::None:
         default:
             throw std::runtime_error("Cannot create Jolt body without a valid shape.");
@@ -433,13 +490,14 @@ public:
         }
 
         m_Bodies.clear();
+        m_MeshShapeCache.clear();
 
         ShutdownJoltGlobals();
     }
 
     PhysicsBodyHandle CreateBody(const PhysicsBodyDesc& desc)
     {
-        ShapeRefC shape = CreateJoltShape(desc.shape);
+        ShapeRefC shape = desc.shape.mesh ? GetMeshBasedShape(desc.shape) : CreateJoltShape(desc.shape);
 
         // Move the shape itself relative to the body origin, so the body transform stays aligned with
         // the owning GameObject (an offset center of mass shape would only move the center of mass)
@@ -478,7 +536,16 @@ public:
         }
         settings.mUserData = reinterpret_cast<JPH::uint64>(desc.owner);
 
-        if (desc.type == RigidbodyType::Dynamic)
+        if (desc.shape.type == PhysicsShapeType::Mesh && desc.type != RigidbodyType::Static)
+        {
+            // Mesh shapes have no volume to derive mass from, approximate with their bounds
+            settings.mOverrideMassProperties = EOverrideMassProperties::MassAndInertiaProvided;
+            settings.mMassPropertiesOverride.SetMassAndInertiaOfSolidBox(
+                Vec3::sMax(shape->GetLocalBounds().GetSize(), Vec3::sReplicate(0.01f)),
+                1.0f);
+            settings.mMassPropertiesOverride.ScaleToMass(std::max(0.0001f, desc.mass));
+        }
+        else if (desc.type == RigidbodyType::Dynamic)
         {
             settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
             settings.mMassPropertiesOverride.mMass = std::max(0.0001f, desc.mass);
@@ -709,6 +776,50 @@ public:
     }
 
 private:
+    struct CachedMeshShape
+    {
+        std::weak_ptr<const PhysicsMeshData> data;
+        PhysicsShapeType type{PhysicsShapeType::None};
+        ShapeRefC shape;
+    };
+
+    // Building a hull or mesh BVH is expensive and bodies get recreated on every edit, so the
+    // unscaled shape is shared by every body using the same mesh data
+    ShapeRefC GetMeshBasedShape(const PhysicsShapeDesc& desc)
+    {
+        const PhysicsMeshData* key = desc.mesh.get();
+        ShapeRefC shape;
+
+        auto it = m_MeshShapeCache.find(key);
+        if (it != m_MeshShapeCache.end() && !it->second.data.expired() && it->second.type == desc.type)
+        {
+            shape = it->second.shape;
+        }
+        else
+        {
+            std::erase_if(m_MeshShapeCache, [](const auto& entry) { return entry.second.data.expired(); });
+
+            shape = desc.type == PhysicsShapeType::ConvexHull
+                ? CreateConvexHullShape(*desc.mesh)
+                : CreateMeshShape(*desc.mesh);
+            m_MeshShapeCache.insert_or_assign(key, CachedMeshShape{desc.mesh, desc.type, shape});
+        }
+
+        if (glm::all(glm::epsilonEqual(desc.scale, glm::vec3{1.0f}, 0.0001f)))
+        {
+            return shape;
+        }
+
+        const Vec3 scale = ToJoltVec3(desc.scale);
+        if (!shape->IsValidScale(scale))
+        {
+            spdlog::warn("Physics: unsupported scale ({}, {}, {}) for mesh based shape, ignoring it",
+                         desc.scale.x, desc.scale.y, desc.scale.z);
+            return shape;
+        }
+        return new ScaledShape(shape, scale);
+    }
+
     struct BodyRecord
     {
         bool alive{false};
@@ -802,6 +913,8 @@ private:
     std::unordered_map<std::uint32_t, BodyRecord> m_Bodies;
     std::uint32_t m_NextHandle{0};
 
+    std::unordered_map<const PhysicsMeshData*, CachedMeshShape> m_MeshShapeCache;
+
     SensorContactListener m_SensorListener;
     std::unordered_map<SensorContactListener::BodyPair, SensorContactListener::PairData, SensorContactListener::PairHash> m_PreviousSensorOverlaps;
     std::vector<TriggerEvent> m_TriggerEvents;

destrum/src/Physics/PhysicsMeshCache.cpp

@@ -0,0 +1,151 @@
+#include <destrum/Physics/PhysicsMeshCache.h>
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Core/Memory.h>
+#include <Jolt/Geometry/ConvexHullBuilder.h>
+
+#include <algorithm>
+#include <limits>
+#include <map>
+#include <unordered_map>
+#include <utility>
+
+#include <glm/gtx/component_wise.hpp>
+
+#include <destrum/Graphics/Resources/CPUMesh.h>
+
+namespace {
+    struct HullEntry {
+        std::weak_ptr<const PhysicsMeshData> source;
+        std::weak_ptr<const PhysicsMeshData> hull;
+        bool failed{false};
+    };
+
+    std::unordered_map<std::string, std::weak_ptr<const PhysicsMeshData>> g_Meshes;
+    std::map<std::pair<const PhysicsMeshData*, int>, HullEntry> g_Hulls;
+
+    std::shared_ptr<const PhysicsMeshData> BuildHull(const PhysicsMeshData& source, int maxVertices) {
+        // The builder allocates through Jolt, which may run before any physics world registered the allocator
+        if (JPH::Allocate == nullptr) {
+            JPH::RegisterDefaultAllocator();
+        }
+
+        JPH::ConvexHullBuilder::Positions positions;
+        positions.reserve(source.points.size());
+        for (const glm::vec3& point : source.points) {
+            positions.push_back(JPH::Vec3(point.x, point.y, point.z));
+        }
+
+        JPH::ConvexHullBuilder builder(positions);
+        const char* error = nullptr;
+        const auto result = builder.Initialize(maxVertices, 1.0e-3f, error);
+        if (result != JPH::ConvexHullBuilder::EResult::Success &&
+            result != JPH::ConvexHullBuilder::EResult::MaxVerticesReached) {
+            return nullptr;
+        }
+
+        // Coplanar points still build a flat hull, which can't be a convex shape
+        JPH::Vec3 centerOfMass;
+        float volume = 0.0f;
+        builder.GetCenterOfMassAndVolume(centerOfMass, volume);
+        glm::vec3 min{std::numeric_limits<float>::max()};
+        glm::vec3 max{std::numeric_limits<float>::lowest()};
+        for (const glm::vec3& point : source.points) {
+            min = glm::min(min, point);
+            max = glm::max(max, point);
+        }
+        const float extent = glm::compMax(max - min);
+        if (volume <= 1.0e-6f * extent * extent * extent) {
+            return nullptr;
+        }
+
+        auto hull = std::make_shared<PhysicsMeshData>();
+        std::unordered_map<int, std::uint32_t> remap;
+        const auto hullIndex = [&](int sourceIndex) {
+            auto [it, inserted] = remap.try_emplace(sourceIndex, static_cast<std::uint32_t>(hull->points.size()));
+            if (inserted) {
+                hull->points.push_back(source.points[static_cast<std::size_t>(sourceIndex)]);
+            }
+            return it->second;
+        };
+
+        std::vector<std::uint32_t> polygon;
+        for (const JPH::ConvexHullBuilder::Face* face : builder.GetFaces()) {
+            if (face->mRemoved) {
+                continue;
+            }
+
+            polygon.clear();
+            const JPH::ConvexHullBuilder::Edge* edge = face->mFirstEdge;
+            do {
+                polygon.push_back(hullIndex(edge->mStartIdx));
+                edge = edge->mNextEdge;
+            } while (edge != face->mFirstEdge);
+
+            for (std::size_t i = 1; i + 1 < polygon.size(); ++i) {
+                hull->indices.insert(hull->indices.end(), {polygon[0], polygon[i], polygon[i + 1]});
+            }
+        }
+
+        if (hull->points.size() < 4) {
+            return nullptr;
+        }
+        return hull;
+    }
+}
+
+std::shared_ptr<const PhysicsMeshData> PhysicsMeshCache::FromCPUMesh(const std::string& key, const CPUMesh& mesh) {
+    if (auto it = g_Meshes.find(key); it != g_Meshes.end()) {
+        // Same key with a different size means the mesh was reimported
+        if (auto cached = it->second.lock();
+            cached && cached->points.size() == mesh.vertices.size() && cached->indices.size() == mesh.indices.size()) {
+            return cached;
+        }
+    }
+
+    auto data = std::make_shared<PhysicsMeshData>();
+    data->points.reserve(mesh.vertices.size());
+    for (const CPUMesh::Vertex& vertex : mesh.vertices) {
+        data->points.push_back(vertex.position);
+    }
+
+    data->indices.reserve(mesh.indices.size() - mesh.indices.size() % 3);
+    for (std::size_t i = 0; i + 2 < mesh.indices.size(); i += 3) {
+        const std::uint32_t a = mesh.indices[i];
+        const std::uint32_t b = mesh.indices[i + 1];
+        const std::uint32_t c = mesh.indices[i + 2];
+        if (std::max({a, b, c}) < data->points.size()) {
+            data->indices.insert(data->indices.end(), {a, b, c});
+        }
+    }
+
+    std::erase_if(g_Meshes, [](const auto& entry) { return entry.second.expired(); });
+    g_Meshes.insert_or_assign(key, data);
+    return data;
+}
+
+std::shared_ptr<const PhysicsMeshData> PhysicsMeshCache::ConvexHull(const std::shared_ptr<const PhysicsMeshData>& source,
+                                                                    int maxVertices) {
+    if (!source || source->points.size() < 4) {
+        return nullptr;
+    }
+
+    const auto key = std::make_pair(source.get(), maxVertices);
+    if (auto it = g_Hulls.find(key); it != g_Hulls.end() && it->second.source.lock() == source) {
+        if (it->second.failed) {
+            return nullptr;
+        }
+        if (auto hull = it->second.hull.lock()) {
+            return hull;
+        }
+    }
+
+    auto hull = BuildHull(*source, maxVertices);
+
+    std::erase_if(g_Hulls, [](const auto& entry) {
+        return entry.second.source.expired() || (!entry.second.failed && entry.second.hull.expired());
+    });
+    g_Hulls.insert_or_assign(key, HullEntry{source, hull, hull == nullptr});
+    return hull;
+}

destrum/src/Physics/PhysicsWorld.cpp

@@ -61,6 +61,10 @@ void PhysicsWorld::RegisterRigidbody(Rigidbody& rigidbody) {
     desc.transform.position = transform.GetWorldPosition();
     desc.transform.rotation = transform.GetWorldRotation();
     desc.shape = collider->BuildPhysicsShape();
+    if (desc.shape.type == PhysicsShapeType::None) {
+        // e.g. a mesh collider whose mesh isn't loaded, the next refresh retries
+        return;
+    }
 
     // Collider dimensions are expressed in world units. Render meshes may
     // use a transform scale to normalize imported asset units, so applying

editor/include/editor/Editor.h

@@ -136,6 +136,7 @@ private:
     bool m_SaveAsDialog{false};
     bool m_ItemWasActive{false};
     bool m_EditPending{false};
+    bool m_CameraHadInput{false};
 };
 
 #endif // EDITOR_EDITOR_H

editor/include/editor/UndoStack.h

@@ -11,6 +11,17 @@
 
 class Scene;
 
+struct EditGestureState {
+    bool itemWasActive{false};
+    bool itemActive{false};
+    bool mouseReleased{false};
+    bool keyReleased{false};
+    bool keyboardDrivesCamera{false};
+    bool editPending{false};
+};
+
+[[nodiscard]] bool EndsEditGesture(const EditGestureState& state);
+
 class UndoStack final {
 public:
     static constexpr std::size_t MaxSteps = 64;

editor/src/Editor.cpp

@@ -101,8 +101,9 @@ void Editor::onImGuiBegin(float dt)
     ApplyPick();
     HandleShortcuts();
 
+    m_CameraHadInput = UsesEditorCamera() && (m_Viewport.hovered || m_Viewport.focused || m_Camera.IsLooking());
     if (UsesEditorCamera()) {
-        m_Camera.Update(dt, m_Viewport.hovered || m_Viewport.focused || m_Camera.IsLooking());
+        m_Camera.Update(dt, m_CameraHadInput);
     }
 
     if (m_ShaderHotReload.Poll(dt)) {
@@ -153,10 +154,16 @@ void Editor::onEndFrame()
     }
 
     const bool itemActive = ImGui::IsAnyItemActive() || ImGuizmo::IsUsing();
-    const bool gestureEnded = (m_ItemWasActive && !itemActive) || ImGui::IsMouseReleased(ImGuiMouseButton_Left) ||
+    const bool gestureEnded = EndsEditGesture({
-                              AnyKeyReleased() || std::exchange(m_EditPending, false);
+        .itemWasActive = m_ItemWasActive,
+        .itemActive = itemActive,
+        .mouseReleased = ImGui::IsMouseReleased(ImGuiMouseButton_Left),
+        .keyReleased = AnyKeyReleased(),
+        .keyboardDrivesCamera = m_CameraHadInput,
+        .editPending = std::exchange(m_EditPending, false),
+    });
     m_ItemWasActive = itemActive;
-    if (gestureEnded && !itemActive && m_PlayMode.IsEditing()) {
+    if (gestureEnded && m_PlayMode.IsEditing()) {
         RecordEdits();
     }
 }

editor/src/UndoStack.cpp

@@ -8,6 +8,16 @@
 #include <destrum/Scene/Scene.h>
 #include <destrum/Serialization/SceneSerializer.h>
 
+bool EndsEditGesture(const EditGestureState& state)
+{
+    if (state.itemActive) {
+        return false;
+    }
+    // Capturing a snapshot serializes the whole scene, doing that on every WASD release while flying hitches the camera
+    const bool keyGesture = state.keyReleased && !state.keyboardDrivesCamera;
+    return state.itemWasActive || state.mouseReleased || keyGesture || state.editPending;
+}
+
 std::optional<UndoStack::Snapshot> UndoStack::Capture(Scene& scene)
 {
     const auto root = SceneSerializer::Capture(scene);

tests/core_tests.cpp

@@ -178,6 +178,9 @@ namespace {
             "BoxCollider",
             "SphereCollider",
             "CapsuleCollider",
+            "CylinderCollider",
+            "ConvexHullCollider",
+            "MeshCollider",
             "Canvas",
             "RectTransform",
             "UIImage",

tests/editor_tests.cpp

@@ -59,10 +59,24 @@ namespace {
 
         SceneManager::GetInstance().Destroy();
     }
+
+    void testCameraKeysDoNotEndEditGestures()
+    {
+        check(!EndsEditGesture({.keyReleased = true, .keyboardDrivesCamera = true}),
+              "releasing a key while flying the editor camera must not capture an undo snapshot");
+        check(EndsEditGesture({.keyReleased = true}), "releasing a key outside the viewport still ends an edit");
+        check(EndsEditGesture({.keyboardDrivesCamera = true, .editPending = true}),
+              "viewport shortcuts that edit (delete, duplicate) still end an edit");
+        check(EndsEditGesture({.mouseReleased = true, .keyboardDrivesCamera = true}),
+              "releasing the mouse after a viewport drag still ends an edit");
+        check(!EndsEditGesture({.itemWasActive = true, .itemActive = true, .mouseReleased = true}),
+              "nothing ends while an item is still being edited");
+    }
 }
 
 void RunEditorTests()
 {
     testUndoRedoRestoresEdits();
     testUndoHistoryIsCapped();
+    testCameraKeysDoNotEndEditGestures();
 }

tests/physics_tests.cpp

@@ -10,6 +10,9 @@
 #include <destrum/Components/Physics/BoxCollider.h>
 #include <destrum/Components/Physics/CapsuleCollider.h>
 #include <destrum/Components/Physics/Collider.h>
+#include <destrum/Components/Physics/ConvexHullCollider.h>
+#include <destrum/Components/Physics/CylinderCollider.h>
+#include <destrum/Components/Physics/MeshCollider.h>
 #include <destrum/Components/LightComponent.h>
 #include <destrum/Components/Physics/Rigidbody.h>
 
@@ -357,6 +360,124 @@ namespace {
 
         SceneManager::GetInstance().Destroy();
     }
+
+    std::shared_ptr<const PhysicsMeshData> makeCubeMesh(float halfExtent)
+    {
+        auto mesh = std::make_shared<PhysicsMeshData>();
+        for (int corner = 0; corner < 8; ++corner) {
+            mesh->points.push_back({
+                corner & 1 ? halfExtent : -halfExtent,
+                corner & 2 ? halfExtent : -halfExtent,
+                corner & 4 ? halfExtent : -halfExtent});
+        }
+        mesh->points.push_back(glm::vec3{0.0f});
+        mesh->indices = {
+            0, 2, 1, 1, 2, 3, 4, 5, 6, 5, 7, 6,
+            0, 1, 4, 1, 5, 4, 2, 6, 3, 3, 6, 7,
+            0, 4, 2, 2, 4, 6, 1, 3, 5, 3, 7, 5};
+        return mesh;
+    }
+
+    std::shared_ptr<const PhysicsMeshData> makeQuadMesh(float halfExtent)
+    {
+        auto mesh = std::make_shared<PhysicsMeshData>();
+        mesh->points = {
+            {-halfExtent, 0.0f, -halfExtent},
+            {halfExtent, 0.0f, -halfExtent},
+            {-halfExtent, 0.0f, halfExtent},
+            {halfExtent, 0.0f, halfExtent}};
+        mesh->indices = {0, 2, 1, 1, 2, 3};
+        return mesh;
+    }
+
+    void testCylinderCollider()
+    {
+        JoltPhysicsWorld world{{.workerThreadCount = 1, .gravity = glm::vec3{0.0f}}};
+        GameObject object{"cylinder"};
+        object.AddComponent<CylinderCollider>(1.0f, 4.0f);
+        Rigidbody* rigidbody = object.AddComponent<Rigidbody>();
+        rigidbody->SetType(RigidbodyType::Static);
+        world.RegisterRigidbody(*rigidbody);
+
+        PhysicsRaycastHit hit;
+        check(world.Raycast({-3.0f, 1.5f, 0.0f}, {1.0f, 0.0f, 0.0f}, 5.0f, hit) && close(hit.distance, 2.0f),
+              "cylinder sides must be at its radius along the whole height");
+        check(world.Raycast({0.0f, 5.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, 5.0f, hit) && close(hit.distance, 3.0f),
+              "cylinder caps must be flat at half its height");
+    }
+
+    void testConvexHullCollider()
+    {
+        JoltPhysicsWorld world{{.workerThreadCount = 1, .gravity = glm::vec3{0.0f}}};
+        GameObject object{"hull"};
+        object.GetTransform().SetLocalScale(glm::vec3{2.0f});
+        auto* collider = object.AddComponent<ConvexHullCollider>();
+        collider->SetCustomMesh(makeCubeMesh(1.0f));
+        check(collider->BuildPhysicsShape().type == PhysicsShapeType::ConvexHull,
+              "a cube mesh must build a convex hull");
+        check(collider->BuildPhysicsShape().mesh->points.size() == 8,
+              "interior points must not end up in the hull");
+
+        Rigidbody* rigidbody = object.AddComponent<Rigidbody>();
+        rigidbody->SetType(RigidbodyType::Static);
+        world.RegisterRigidbody(*rigidbody);
+
+        PhysicsRaycastHit hit;
+        check(world.Raycast({-5.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, 10.0f, hit) && close(hit.distance, 3.0f),
+              "mesh based colliders must apply the transform scale");
+
+        GameObject flat{"flat-hull"};
+        auto* flatCollider = flat.AddComponent<ConvexHullCollider>();
+        flatCollider->SetCustomMesh(makeQuadMesh(1.0f));
+        check(flatCollider->BuildPhysicsShape().type == PhysicsShapeType::Box,
+              "a mesh without volume must fall back to a box");
+
+        GameObject empty{"empty-hull"};
+        empty.AddComponent<ConvexHullCollider>();
+        Rigidbody* emptyBody = empty.AddComponent<Rigidbody>();
+        world.RegisterRigidbody(*emptyBody);
+        check(!emptyBody->HasPhysicsBody(), "a mesh collider without a mesh must not create a body");
+    }
+
+    void testMeshCollider()
+    {
+        JoltPhysicsWorld world{{.workerThreadCount = 1, .gravity = {0.0f, -9.81f, 0.0f}}};
+
+        GameObject ground{"mesh-ground"};
+        ground.AddComponent<MeshCollider>()->SetCustomMesh(makeQuadMesh(10.0f));
+        Rigidbody* groundBody = ground.AddComponent<Rigidbody>();
+        groundBody->SetType(RigidbodyType::Static);
+        world.RegisterRigidbody(*groundBody);
+        check(groundBody->HasPhysicsBody(), "a static mesh collider must create a body");
+
+        GameObject ball{"ball"};
+        ball.GetTransform().SetLocalPosition({0.0f, 2.0f, 0.0f});
+        ball.AddComponent<SphereCollider>(0.5f);
+        Rigidbody* ballBody = ball.AddComponent<Rigidbody>();
+        world.RegisterRigidbody(*ballBody);
+
+        for (int step = 0; step < 180; ++step) {
+            world.Step(1.0f / 60.0f);
+            world.SyncDynamicBodiesToTransforms();
+        }
+        const float restHeight = ball.GetTransform().GetWorldPosition().y;
+        check(restHeight > 0.4f && restHeight < 0.6f, "a sphere must come to rest on a mesh collider");
+
+        GameObject kinematic{"kinematic-mesh"};
+        kinematic.GetTransform().SetLocalPosition({50.0f, 0.0f, 0.0f});
+        kinematic.AddComponent<MeshCollider>()->SetCustomMesh(makeCubeMesh(1.0f));
+        Rigidbody* kinematicBody = kinematic.AddComponent<Rigidbody>();
+        kinematicBody->SetType(RigidbodyType::Kinematic);
+        world.RegisterRigidbody(*kinematicBody);
+        check(kinematicBody->HasPhysicsBody(), "a kinematic mesh collider must create a body");
+
+        GameObject dynamic{"dynamic-mesh"};
+        auto* dynamicCollider = dynamic.AddComponent<MeshCollider>();
+        dynamicCollider->SetCustomMesh(makeCubeMesh(1.0f));
+        dynamic.AddComponent<Rigidbody>();
+        check(dynamicCollider->BuildPhysicsShape().type == PhysicsShapeType::ConvexHull,
+              "dynamic mesh colliders must fall back to a convex hull");
+    }
 }
 
 void RunPhysicsTests()
@@ -368,5 +489,8 @@ void RunPhysicsTests()
     testKinematicBodiesMoveWithVelocity();
     testColliderCenterOffset();
     testFrozenRotationCapsule();
+    testCylinderCollider();
+    testConvexHullCollider();
+    testMeshCollider();
     testTriggerZone();
 }