Remove references to IComponent.Owner in physics island processing

Basically just converts a bunch of places where PhysicsComponent is being stored to instead store Entity<PhysicsComponent> and fixes the resulting errors

Author: TemporalOroboros

Robust.Client/Physics/DebugPhysicsIslandSystem.cs

@@ -47,7 +47,7 @@ internal sealed class DebugPhysicsIslandSystem : EntitySystem
          * This will draw above every body involved in a particular island solve.
          */
 
-        public readonly Queue<(TimeSpan Time, List<PhysicsComponent> Bodies)> IslandSolve = new();
+        public readonly Queue<(TimeSpan Time, List<Entity<PhysicsComponent>> Bodies)> IslandSolve = new();
         public const float SolveDuration = 0.1f;
 
         public override void Initialize()

Robust.Client/Physics/PhysicsSystem.cs

@@ -31,13 +31,13 @@ protected override void Cleanup(PhysicsMapComponent component, float frameTime)
             // (and serializing it over the network isn't necessary?)
             // This is a client-only problem.
             // Also need to suss out having the client build the island anyway and just... not solving it?
-            foreach (var body in component.AwakeBodies)
+            foreach (var (uid, body) in component.AwakeBodies)
             {
                 if (!body.SleepingAllowed || body.LinearVelocity.Length() > LinearToleranceSqr / 2f || body.AngularVelocity * body.AngularVelocity > AngularToleranceSqr / 2f) continue;
                 body.SleepTime += frameTime;
                 if (body.SleepTime > TimeToSleep)
                 {
-                    toRemove.Add(new Entity<PhysicsComponent>(body.Owner, body));
+                    toRemove.Add(new Entity<PhysicsComponent>(uid, body));
                 }
             }
 
@@ -49,19 +49,19 @@ protected override void Cleanup(PhysicsMapComponent component, float frameTime)
             base.Cleanup(component, frameTime);
         }
 
-        protected override void UpdateLerpData(PhysicsMapComponent component, List<PhysicsComponent> bodies, EntityQuery<TransformComponent> xformQuery)
+        protected override void UpdateLerpData(PhysicsMapComponent component, List<Entity<PhysicsComponent>> bodies, EntityQuery<TransformComponent> xformQuery)
         {
             foreach (var body in bodies)
             {
-                if (body.BodyType == BodyType.Static ||
+                if (body.Comp.BodyType == BodyType.Static ||
                     component.LerpData.TryGetValue(body.Owner, out var lerpData) ||
                     !xformQuery.TryGetComponent(body.Owner, out var xform) ||
                     lerpData.ParentUid == xform.ParentUid)
                 {
                     continue;
                 }
 
-                component.LerpData[xform.Owner] = (xform.ParentUid, xform.LocalPosition, xform.LocalRotation);
+                component.LerpData[body.Owner] = (xform.ParentUid, xform.LocalPosition, xform.LocalRotation);
             }
         }
 

Robust.Shared/Physics/Dynamics/PhysicsMapComponent.cs

@@ -51,7 +51,7 @@ public sealed partial class PhysicsMapComponent : Component
     ///     All awake bodies on this map.
     /// </summary>
     [ViewVariables]
-    public readonly HashSet<PhysicsComponent> AwakeBodies = new();
+    public readonly HashSet<Entity<PhysicsComponent>> AwakeBodies = new();
 
     /// <summary>
     ///     Store last tick's invDT

Robust.Shared/Physics/IslandSolveMessage.cs

@@ -6,9 +6,9 @@ namespace Robust.Shared.Physics
 {
     internal sealed class IslandSolveMessage : EntityEventArgs
     {
-        public List<PhysicsComponent> Bodies { get; }
+        public List<Entity<PhysicsComponent>> Bodies { get; }
 
-        public IslandSolveMessage(List<PhysicsComponent> bodies)
+        public IslandSolveMessage(List<Entity<PhysicsComponent>> bodies)
         {
             Bodies = bodies;
         }

Robust.Shared/Physics/Systems/SharedPhysicsSystem.Island.cs

@@ -125,8 +125,8 @@ public abstract partial class SharedPhysicsSystem
      */
     private const int MaxIslands = 256;
 
-    private readonly ObjectPool<List<PhysicsComponent>> _islandBodyPool =
-        new DefaultObjectPool<List<PhysicsComponent>>(new ListPolicy<PhysicsComponent>(), MaxIslands);
+    private readonly ObjectPool<List<Entity<PhysicsComponent>>> _islandBodyPool =
+        new DefaultObjectPool<List<Entity<PhysicsComponent>>>(new ListPolicy<Entity<PhysicsComponent>>(), MaxIslands);
 
     private readonly ObjectPool<List<Contact>> _islandContactPool =
         new DefaultObjectPool<List<Contact>>(new ListPolicy<Contact>(), MaxIslands);
@@ -140,7 +140,7 @@ public abstract partial class SharedPhysicsSystem
     internal record struct IslandData(
         int Index,
         bool LoneIsland,
-        List<PhysicsComponent> Bodies,
+        List<Entity<PhysicsComponent>> Bodies,
         List<Contact> Contacts,
         List<(Joint Original, Joint Joint)> Joints,
         List<(Joint Joint, float Error)> BrokenJoints)
@@ -161,17 +161,17 @@ internal record struct IslandData(
         /// </summary>
         public int Offset = 0;
 
-        public readonly List<PhysicsComponent> Bodies = Bodies;
+        public readonly List<Entity<PhysicsComponent>> Bodies = Bodies;
         public readonly List<Contact> Contacts = Contacts;
         public readonly List<(Joint Original, Joint Joint)> Joints = Joints;
         public bool PositionSolved = false;
         public readonly List<(Joint Joint, float Error)> BrokenJoints = BrokenJoints;
     }
 
     // Caching for island generation.
-    private readonly HashSet<PhysicsComponent> _islandSet = new(64);
-    private readonly Stack<PhysicsComponent> _bodyStack = new(64);
-    private readonly List<PhysicsComponent> _awakeBodyList = new(256);
+    private readonly HashSet<Entity<PhysicsComponent>> _islandSet = new(64);
+    private readonly Stack<Entity<PhysicsComponent>> _bodyStack = new(64);
+    private readonly List<Entity<PhysicsComponent>> _awakeBodyList = new(256);
 
     // Config
     private bool _warmStarting;
@@ -282,7 +282,7 @@ public void Step(EntityUid uid, PhysicsMapComponent component, float frameTime,
 
     private void ClearForces(PhysicsMapComponent component)
     {
-        foreach (var body in component.AwakeBodies)
+        foreach (var (_, body) in component.AwakeBodies)
         {
             // TODO: Netsync
             body.Force = Vector2.Zero;
@@ -315,13 +315,12 @@ private void Solve(EntityUid uid, PhysicsMapComponent component, float frameTime
         var islandJoints = new List<(Joint Original, Joint Joint)>();
 
         // Build the relevant islands / graphs for all bodies.
-        foreach (var seed in _awakeBodyList)
+        foreach (var (seedUid, seed) in _awakeBodyList)
         {
             // I tried not running prediction for non-contacted entities but unfortunately it looked like shit
             // when contact broke so if you want to try that then GOOD LUCK.
-            if (seed.Island) continue;
-
-            var seedUid = seed.Owner;
+            if (seed.Island)
+                continue;
 
             if (!metaQuery.TryGetComponent(seedUid, out var metadata))
             {
@@ -342,19 +341,21 @@ private void Solve(EntityUid uid, PhysicsMapComponent component, float frameTime
             var bodies = _islandBodyPool.Get();
             var contacts = _islandContactPool.Get();
             var joints = _islandJointPool.Get();
-            _bodyStack.Push(seed);
+            _bodyStack.Push((seedUid, seed));
 
             seed.Island = true;
 
-            while (_bodyStack.TryPop(out var body))
+            while (_bodyStack.TryPop(out var bodyEnt))
             {
-                var bodyUid = body.Owner;
+                var bodyUid = bodyEnt.Owner;
+                var body = bodyEnt.Comp;
 
-                bodies.Add(body);
-                _islandSet.Add(body);
+                bodies.Add(bodyEnt);
+                _islandSet.Add(bodyEnt);
 
                 // Static bodies don't propagate islands
-                if (body.BodyType == BodyType.Static) continue;
+                if (body.BodyType == BodyType.Static)
+                    continue;
 
                 // As static bodies can never be awake (unlike Farseer) we'll set this after the check.
                 SetAwake(bodyUid, body, true, updateSleepTime: false);
@@ -383,9 +384,10 @@ private void Solve(EntityUid uid, PhysicsMapComponent component, float frameTime
                     var other = bodyA == body ? bodyB : bodyA;
 
                     // Was the other body already added to this island?
-                    if (other.Island) continue;
+                    if (other.Island)
+                        continue;
 
-                    _bodyStack.Push(other);
+                    _bodyStack.Push(bodyEnt);
                     other.Island = true;
                 }
 
@@ -468,13 +470,13 @@ private void Solve(EntityUid uid, PhysicsMapComponent component, float frameTime
 
                     if (!bodyA.Island)
                     {
-                        _bodyStack.Push(bodyA);
+                        _bodyStack.Push((joint.BodyAUid, bodyA));
                         bodyA.Island = true;
                     }
 
                     if (!bodyB.Island)
                     {
-                        _bodyStack.Push(bodyB);
+                        _bodyStack.Push((joint.BodyBUid, bodyB));
                         bodyB.Island = true;
                     }
                 }
@@ -487,7 +489,7 @@ private void Solve(EntityUid uid, PhysicsMapComponent component, float frameTime
             // Bodies not touching anything, hence we can just add it to the lone island.
             if (contacts.Count == 0 && joints.Count == 0)
             {
-                DebugTools.Assert(bodies.Count == 1 && bodies[0].BodyType != BodyType.Static);
+                DebugTools.Assert(bodies.Count == 1 && bodies[0].Comp.BodyType != BodyType.Static);
                 loneIsland.Bodies.Add(bodies[0]);
                 idx = loneIsland.Index;
             }
@@ -501,7 +503,7 @@ private void Solve(EntityUid uid, PhysicsMapComponent component, float frameTime
             // Allow static bodies to be re-used in other islands
             for (var i = 0; i < bodies.Count; i++)
             {
-                var body = bodies[i];
+                var body = bodies[i].Comp;
 
                 // Static bodies can participate in other islands
                 if (body.BodyType == BodyType.Static)
@@ -537,8 +539,8 @@ private void ReturnIsland(IslandData island)
     {
         foreach (var body in island.Bodies)
         {
-            DebugTools.Assert(body.IslandIndex.ContainsKey(island.Index));
-            body.IslandIndex.Remove(island.Index);
+            DebugTools.Assert(body.Comp.IslandIndex.ContainsKey(island.Index));
+            body.Comp.IslandIndex.Remove(island.Index);
         }
 
         _islandBodyPool.Return(island.Bodies);
@@ -561,7 +563,7 @@ private void ReturnIsland(IslandData island)
 
     protected virtual void Cleanup(PhysicsMapComponent component, float frameTime)
     {
-        foreach (var body in _islandSet)
+        foreach (var (_, body) in _islandSet)
         {
             if (!body.Island || body.Deleted)
             {
@@ -679,7 +681,7 @@ private void SolveIslands(EntityUid uid, PhysicsMapComponent component, List<Isl
     /// If this is the first time a body has been updated this tick update its position for lerping.
     /// Due to substepping we have to check it every time.
     /// </summary>
-    protected virtual void UpdateLerpData(PhysicsMapComponent component, List<PhysicsComponent> bodies, EntityQuery<TransformComponent> xformQuery)
+    protected virtual void UpdateLerpData(PhysicsMapComponent component, List<Entity<PhysicsComponent>> bodies, EntityQuery<TransformComponent> xformQuery)
     {
 
     }
@@ -718,9 +720,9 @@ private void SolveIsland(
 
         for (var i = 0; i < island.Bodies.Count; i++)
         {
-            var body = island.Bodies[i];
+            var (bodyUid, body) = island.Bodies[i];
             var (worldPos, worldRot) =
-                _transform.GetWorldPositionRotation(xformQuery.GetComponent(body.Owner), xformQuery);
+                _transform.GetWorldPositionRotation(xformQuery.GetComponent(bodyUid), xformQuery);
 
             var transform = new Transform(worldPos, worldRot);
             var position = Physics.Transform.Mul(transform, body.LocalCenter);
@@ -899,7 +901,7 @@ private void SolveIsland(
             {
                 for (var i = 0; i < bodyCount; i++)
                 {
-                    var body = island.Bodies[i];
+                    var body = island.Bodies[i].Comp;
 
                     if (body.BodyType == BodyType.Static) continue;
 
@@ -930,9 +932,10 @@ private void SolveIsland(
 
                 for (var i = 0; i < bodyCount; i++)
                 {
-                    var body = island.Bodies[i];
+                    var body = island.Bodies[i].Comp;
 
-                    if (body.BodyType == BodyType.Static) continue;
+                    if (body.BodyType == BodyType.Static)
+                        continue;
 
                     if (!body.SleepingAllowed ||
                         body.AngularVelocity * body.AngularVelocity > data.AngTolSqr ||
@@ -965,16 +968,16 @@ private void SolveIsland(
         ArrayPool<ContactPositionConstraint>.Shared.Return(positionConstraints);
     }
 
-    private void FinalisePositions(int start, int end, int offset, List<PhysicsComponent> bodies, EntityQuery<TransformComponent> xformQuery, Vector2[] positions, float[] angles, Vector2[] solvedPositions, float[] solvedAngles)
+    private void FinalisePositions(int start, int end, int offset, List<Entity<PhysicsComponent>> bodies, EntityQuery<TransformComponent> xformQuery, Vector2[] positions, float[] angles, Vector2[] solvedPositions, float[] solvedAngles)
     {
         for (var i = start; i < end; i++)
         {
-            var body = bodies[i];
+            var (bodyUid, body) = bodies[i];
 
             if (body.BodyType == BodyType.Static)
                 continue;
 
-            var xform = xformQuery.GetComponent(body.Owner);
+            var xform = xformQuery.GetComponent(bodyUid);
             var parentXform = xformQuery.GetComponent(xform.ParentUid);
             var (_, parentRot, parentInvMatrix) = parentXform.GetWorldPositionRotationInvMatrix(xformQuery);
             var worldRot = (float) (parentRot + xform._localRotation);
@@ -1019,7 +1022,8 @@ private void UpdateBodies(
 
             // So technically we don't /need/ to skip static bodies here but it saves us having to check for deferred updates so we'll do it anyway.
             // Plus calcing worldpos can be costly so we skip that too which is nice.
-            if (body.BodyType == BodyType.Static) continue;
+            if (body.Comp.BodyType == BodyType.Static)
+                continue;
 
             var uid = body.Owner;
             var position = positions[offset + i];
@@ -1048,7 +1052,7 @@ private void UpdateBodies(
             }
 
             if (physicsDirtied)
-                Dirty(uid, body);
+                Dirty(body);
         }
     }
 

Robust.Shared/Physics/Systems/SharedPhysicsSystem.Map.cs

@@ -29,7 +29,7 @@ internal void AddAwakeBody(EntityUid uid, PhysicsComponent body, PhysicsMapCompo
         }
 
         DebugTools.Assert(body.Awake);
-        map.AwakeBodies.Add(body);
+        map.AwakeBodies.Add((uid, body));
     }
 
     internal void AddAwakeBody(EntityUid uid, PhysicsComponent body, EntityUid mapUid, PhysicsMapComponent? map = null)
@@ -40,7 +40,7 @@ internal void AddAwakeBody(EntityUid uid, PhysicsComponent body, EntityUid mapUi
 
     internal void RemoveSleepBody(EntityUid uid, PhysicsComponent body, PhysicsMapComponent? map = null)
     {
-        map?.AwakeBodies.Remove(body);
+        map?.AwakeBodies.Remove((uid, body));
     }
 
     internal void RemoveSleepBody(EntityUid uid, PhysicsComponent body, EntityUid mapUid, PhysicsMapComponent? map = null)

Robust.Shared/Physics/Systems/SharedPhysicsSystem.cs

@@ -238,7 +238,7 @@ private void RecursiveMapUpdate(
                     DebugTools.Assert(body.Awake);
                 }
                 else
-                    DebugTools.Assert(oldMap?.AwakeBodies.Contains(body) != true);
+                    DebugTools.Assert(oldMap?.AwakeBodies.Contains((uid, body)) != true);
             }
 
             _joints.ClearJoints(uid);

Robust.UnitTesting/Shared/Physics/PhysicsMap_Test.cs

@@ -45,7 +45,7 @@ public void RecursiveMapChange()
         physSystem.SetSleepingAllowed(parent, parentBody, false);
         fixtureSystem.CreateFixture(parent, "fix1", new Fixture(new PhysShapeCircle(0.5f), 0, 0, false), body: parentBody);
         physSystem.WakeBody(parent);
-        Assert.That(physicsMap.AwakeBodies, Does.Contain(parentBody));
+        Assert.That(physicsMap.AwakeBodies, Does.Contain(new Entity<PhysicsComponent>(parent, parentBody)));
 
         var child = entManager.SpawnEntity(null, new EntityCoordinates(parent, Vector2.Zero));
         var childBody = entManager.AddComponent<PhysicsComponent>(child);
@@ -55,7 +55,7 @@ public void RecursiveMapChange()
         fixtureSystem.CreateFixture(child, "fix1", new Fixture(new PhysShapeCircle(0.5f), 0, 0, false), body: childBody);
         physSystem.WakeBody(child, body: childBody);
 
-        Assert.That(physicsMap.AwakeBodies, Does.Contain(childBody));
+        Assert.That(physicsMap.AwakeBodies, Does.Contain(new Entity<PhysicsComponent>(child, childBody)));
 
         xformSystem.SetParent(parent, parentXform, mapUid2);