From dd89bc99a722a4fecf589f9feedd4e6563b1848f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Wed, 4 Oct 2023 21:58:20 +0100
Subject: [PATCH 1/9] refactor(collisions): separate collider from shapes

---
 .../include/cubos/engine/collisions/aabb.hpp  |  4 +-
 .../cubos/engine/collisions/collider.hpp      | 23 +++++++++
 .../cubos/engine/collisions/colliders/box.hpp | 31 ------------
 .../engine/collisions/colliders/capsule.hpp   | 25 ----------
 .../cubos/engine/collisions/shapes/box.hpp    | 24 ++++++++++
 .../engine/collisions/shapes/capsule.hpp      | 17 +++++++
 engine/samples/collisions/main.cpp            | 18 +++----
 .../cubos/engine/collisions/broad_phase.cpp   | 48 ++++++++++++-------
 .../cubos/engine/collisions/broad_phase.hpp   | 32 ++++++-------
 engine/src/cubos/engine/collisions/plugin.cpp | 13 +++--
 10 files changed, 128 insertions(+), 107 deletions(-)
 create mode 100644 engine/include/cubos/engine/collisions/collider.hpp
 delete mode 100644 engine/include/cubos/engine/collisions/colliders/box.hpp
 delete mode 100644 engine/include/cubos/engine/collisions/colliders/capsule.hpp
 create mode 100644 engine/include/cubos/engine/collisions/shapes/box.hpp
 create mode 100644 engine/include/cubos/engine/collisions/shapes/capsule.hpp

diff --git a/engine/include/cubos/engine/collisions/aabb.hpp b/engine/include/cubos/engine/collisions/aabb.hpp
index 4ab19b2572..c6de91c36b 100644
--- a/engine/include/cubos/engine/collisions/aabb.hpp
+++ b/engine/include/cubos/engine/collisions/aabb.hpp
@@ -13,9 +13,9 @@
 
 namespace cubos::engine
 {
-    /// @brief Component which stores the AABB of an entity with a collider component.
+    /// @brief AABB of a collider.
     /// @ingroup collisions-plugin
-    struct [[cubos::component("cubos/aabb", VecStorage)]] ColliderAABB
+    struct ColliderAABB
     {
         /// @brief Minimum point of the diagonal of the AABB.
         glm::vec3 min = glm::vec3{-INFINITY};
diff --git a/engine/include/cubos/engine/collisions/collider.hpp b/engine/include/cubos/engine/collisions/collider.hpp
new file mode 100644
index 0000000000..7c83eb2a6b
--- /dev/null
+++ b/engine/include/cubos/engine/collisions/collider.hpp
@@ -0,0 +1,23 @@
+/// @file
+/// @brief Component @ref cubos::engine::Collider.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <glm/mat4x4.hpp>
+
+#include <cubos/engine/collisions/aabb.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component which adds a collider to an entity.
+    /// @ingroup collisions-plugin
+    struct [[cubos::component("cubos/collider", VecStorage)]] Collider
+    {
+        glm::mat4 transform{1.0F}; ///< Transform of the collider.
+
+        bool fresh = true;      ///< Whether the collider is fresh. This is an hack and should be done in ECS.
+        ColliderAABB localAABB; ///< Local space AABB of the collider.
+        ColliderAABB worldAABB; ///< World space AABB of the collider.
+    };
+} // namespace cubos::engine
diff --git a/engine/include/cubos/engine/collisions/colliders/box.hpp b/engine/include/cubos/engine/collisions/colliders/box.hpp
deleted file mode 100644
index 24fce6a979..0000000000
--- a/engine/include/cubos/engine/collisions/colliders/box.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-/// @file
-/// @brief Component @ref cubos::engine::BoxCollider.
-/// @ingroup collisions-plugin
-
-#pragma once
-
-#include <cubos/core/geom/box.hpp>
-
-namespace cubos::engine
-{
-    /// @brief Component which adds a box collider to an entity.
-    ///
-    /// - Convex: For any 2 points inside the shape, the line segment connecting those points lies
-    ///   inside the shape.
-    /// - Positive margin: Requires a positive margin to round off sharp corners. Defined in
-    ///   physics-space units.
-    ///
-    /// @ingroup collisions-plugin
-    struct [[cubos::component("cubos/box_collider", VecStorage)]] BoxCollider
-    {
-        glm::mat4 transform{1.0F};    ///< Transform of the collider.
-        cubos::core::geom::Box shape; ///< Box shape of the collider.
-
-        /// @brief Margin of the collider. Needed for collision stability.
-        ///
-        /// The collider margin avoids collision errors by rounding off sharp corners. It is
-        /// absolute so the collider's transform won't affect it. Shouldn't be changed without good
-        /// reason, as it's preferable to scale down the collider to account for it.
-        float margin = 0.04F;
-    };
-} // namespace cubos::engine
diff --git a/engine/include/cubos/engine/collisions/colliders/capsule.hpp b/engine/include/cubos/engine/collisions/colliders/capsule.hpp
deleted file mode 100644
index a8a696ab84..0000000000
--- a/engine/include/cubos/engine/collisions/colliders/capsule.hpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/// @file
-/// @brief Component @ref cubos::engine::CapsuleCollider.
-/// @ingroup collisions-plugin
-
-#pragma once
-
-#include <glm/mat4x4.hpp>
-
-#include <cubos/core/geom/capsule.hpp>
-
-namespace cubos::engine
-{
-    /// @brief Component which adds a capsule collider to an entity.
-    ///
-    /// - Convex: For any 2 points inside the shape, the line segment connecting those points lies
-    /// inside the shape.
-    /// - Zero margin: No margin is needed, since the shape has no sharp corners.
-    ///
-    /// @ingroup collisions-plugin
-    struct [[cubos::component("cubos/capsule_collider", VecStorage)]] CapsuleCollider
-    {
-        glm::mat4 transform{1.0F};        ///< Transform of the collider.
-        cubos::core::geom::Capsule shape; ///< Capsule shape of the collider.
-    };
-} // namespace cubos::engine
diff --git a/engine/include/cubos/engine/collisions/shapes/box.hpp b/engine/include/cubos/engine/collisions/shapes/box.hpp
new file mode 100644
index 0000000000..d41c1cca33
--- /dev/null
+++ b/engine/include/cubos/engine/collisions/shapes/box.hpp
@@ -0,0 +1,24 @@
+/// @file
+/// @brief Component @ref cubos::engine::BoxCollisionShape.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <cubos/core/geom/box.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component which adds a box collision shape to an entity, used with a collider component.
+    /// @ingroup collisions-plugin
+    struct [[cubos::component("cubos/box_collision_shape", VecStorage)]] BoxCollisionShape
+    {
+        cubos::core::geom::Box shape; ///< Box shape.
+
+        /// @brief Margin of the collider. Needed for collision stability.
+        ///
+        /// The collider margin avoids collision errors by rounding off sharp corners. It is
+        /// absolute so the collider's transform won't affect it. Shouldn't be changed without good
+        /// reason, as it's preferable to scale down the collider shape to account for it.
+        float margin = 0.04F;
+    };
+} // namespace cubos::engine
diff --git a/engine/include/cubos/engine/collisions/shapes/capsule.hpp b/engine/include/cubos/engine/collisions/shapes/capsule.hpp
new file mode 100644
index 0000000000..b0285801fb
--- /dev/null
+++ b/engine/include/cubos/engine/collisions/shapes/capsule.hpp
@@ -0,0 +1,17 @@
+/// @file
+/// @brief Component @ref cubos::engine::CapsuleCollisionShape.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <cubos/core/geom/capsule.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component which adds a capsule collision shape to an entity, used with a collider component.
+    /// @ingroup collisions-plugin
+    struct [[cubos::component("cubos/capsule_collision_shape", VecStorage)]] CapsuleCollisionShape
+    {
+        cubos::core::geom::Capsule shape; ///< Capsule shape.
+    };
+} // namespace cubos::engine
diff --git a/engine/samples/collisions/main.cpp b/engine/samples/collisions/main.cpp
index 222b498bea..fd71a01883 100644
--- a/engine/samples/collisions/main.cpp
+++ b/engine/samples/collisions/main.cpp
@@ -6,8 +6,9 @@
 
 #include <cubos/engine/collisions/aabb.hpp>
 #include <cubos/engine/collisions/broad_phase_collisions.hpp>
-#include <cubos/engine/collisions/colliders/box.hpp>
+#include <cubos/engine/collisions/collider.hpp>
 #include <cubos/engine/collisions/plugin.hpp>
+#include <cubos/engine/collisions/shapes/box.hpp>
 #include <cubos/engine/input/plugin.hpp>
 #include <cubos/engine/renderer/plugin.hpp>
 #include <cubos/engine/settings/settings.hpp>
@@ -60,7 +61,7 @@ static void init(Commands commands, Write<Input> input, Write<ActiveCameras> cam
 static void addColliders(Write<State> state, Commands commands)
 {
     state->a = commands.create()
-                   .add(BoxCollider{})
+                   .add(BoxCollisionShape{})
                    .add(LocalToWorld{})
                    .add(Position{glm::vec3{0.0F, 0.0F, -2.0F}})
                    .add(Rotation{})
@@ -68,7 +69,7 @@ static void addColliders(Write<State> state, Commands commands)
     state->aRotationAxis = glm::sphericalRand(1.0F);
 
     state->b = commands.create()
-                   .add(BoxCollider{})
+                   .add(BoxCollisionShape{})
                    .add(LocalToWorld{})
                    .add(Position{glm::vec3{0.0F, 0.0F, 2.0F}})
                    .add(Rotation{})
@@ -105,7 +106,7 @@ static void updateTransform(Write<State> state, Read<Input> input, Query<Write<P
     bPos->vec += glm::vec3{0.0F, 0.0F, -0.01F};
 }
 
-static void updateCollided(Query<Read<BoxCollider>> query, Write<State> state, Read<BroadPhaseCollisions> collisions)
+static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read<BroadPhaseCollisions> collisions)
 {
     for (auto [entity, collider] : query)
     {
@@ -120,12 +121,13 @@ static void updateCollided(Query<Read<BoxCollider>> query, Write<State> state, R
     }
 }
 
-static void render(Query<Read<LocalToWorld>, Read<BoxCollider>, Read<ColliderAABB>> query)
+static void render(Query<Read<LocalToWorld>, Read<Collider>, Read<BoxCollisionShape>> query)
 {
-    for (auto [entity, localToWorld, collider, aabb] : query)
+    for (auto [entity, localToWorld, collider, shape] : query)
     {
-        cubos::core::gl::Debug::drawWireBox(collider->shape, localToWorld->mat * collider->transform);
-        cubos::core::gl::Debug::drawWireBox(aabb->box(), glm::translate(glm::mat4{1.0}, aabb->center()),
+        cubos::core::gl::Debug::drawWireBox(shape->shape, localToWorld->mat * collider->transform);
+        cubos::core::gl::Debug::drawWireBox(collider->worldAABB.box(),
+                                            glm::translate(glm::mat4{1.0}, collider->worldAABB.center()),
                                             glm::vec3{1.0, 0.0, 0.0});
     }
 }
diff --git a/engine/src/cubos/engine/collisions/broad_phase.cpp b/engine/src/cubos/engine/collisions/broad_phase.cpp
index f83586ddb3..9e81e893ac 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.cpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.cpp
@@ -1,14 +1,24 @@
 #include "broad_phase.hpp"
 
+using cubos::engine::ColliderAABB;
+
 using CollisionType = BroadPhaseCollisions::CollisionType;
 
-void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollider>, Write<ColliderAABB>> query)
+void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Collider>> query)
 {
-    for (auto [entity, localToWorld, collider, aabb] : query)
+    for (auto [entity, localToWorld, shape, collider] : query)
     {
+        if (collider->fresh)
+        {
+            glm::vec3 diag[2];
+            shape->shape.diag(diag);
+            collider->localAABB = ColliderAABB{diag[0], diag[1]};
+            collider->fresh = false;
+        }
+
         // Get the 4 points of the collider.
         glm::vec3 corners[4];
-        collider->shape.corners4(corners);
+        collider->localAABB.box().corners4(corners);
 
         // Pack the 3 points of the collider into a matrix.
         auto points = glm::mat4{glm::vec4{corners[0], 1.0F}, glm::vec4{corners[1], 1.0F}, glm::vec4{corners[2], 1.0F},
@@ -30,22 +40,21 @@ void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollider>, Write<ColliderA
         max = glm::max(max, glm::abs(rotatedCorners[3]));
 
         // Add the collider's margin.
-        max += glm::vec3{collider->margin};
+        max += glm::vec3{shape->margin};
 
         // Set the AABB.
-        aabb->max = translation + max;
-        aabb->min = translation - max;
+        collider->worldAABB = ColliderAABB{translation - max, translation + max};
     }
 }
 
-void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollider>, Write<ColliderAABB>> query,
+void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollisionShape>, Read<Collider>> query,
                         Write<BroadPhaseCollisions> collisions)
 {
     (void)query;
     (void)collisions;
 }
 
-void updateMarkers(Query<Read<ColliderAABB>> query, Write<BroadPhaseCollisions> collisions)
+void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions)
 {
     // TODO: This is parallelizable.
     for (glm::length_t axis = 0; axis < 3; axis++)
@@ -54,10 +63,10 @@ void updateMarkers(Query<Read<ColliderAABB>> query, Write<BroadPhaseCollisions>
         std::sort(
             collisions->markersPerAxis[axis].begin(), collisions->markersPerAxis[axis].end(),
             [axis, &query](const BroadPhaseCollisions::SweepMarker& a, const BroadPhaseCollisions::SweepMarker& b) {
-                auto [aAABB] = query[a.entity].value();
-                auto [bAABB] = query[b.entity].value();
-                auto aPos = a.isMin ? aAABB->min : aAABB->max;
-                auto bPos = b.isMin ? bAABB->min : bAABB->max;
+                auto [aCollider] = query[a.entity].value();
+                auto [bCollider] = query[b.entity].value();
+                auto aPos = a.isMin ? aCollider->worldAABB.min : aCollider->worldAABB.max;
+                auto bPos = b.isMin ? bCollider->worldAABB.min : bCollider->worldAABB.max;
                 return aPos[axis] < bPos[axis];
             });
     }
@@ -106,7 +115,7 @@ CollisionType getCollisionType(bool box, bool capsule)
     return CollisionType::CapsuleCapsule;
 }
 
-void findPairs(Query<OptRead<BoxCollider>, OptRead<CapsuleCollider>, Read<ColliderAABB>> query,
+void findPairs(Query<OptRead<BoxCollisionShape>, OptRead<CapsuleCollisionShape>, Read<Collider>> query,
                Write<BroadPhaseCollisions> collisions)
 {
     collisions->clearCandidates();
@@ -115,10 +124,10 @@ void findPairs(Query<OptRead<BoxCollider>, OptRead<CapsuleCollider>, Read<Collid
     {
         for (auto& [entity, overlaps] : collisions->sweepOverlapMaps[axis])
         {
-            auto [box, capsule, aabb] = query[entity].value();
+            auto [box, capsule, collider] = query[entity].value();
             for (auto& other : overlaps)
             {
-                auto [otherBox, otherCapsule, otherAabb] = query[other].value();
+                auto [otherBox, otherCapsule, otherCollider] = query[other].value();
 
                 // TODO: Should this be inside the if statement?
                 auto type = getCollisionType(box || otherBox, capsule || otherCapsule);
@@ -126,19 +135,22 @@ void findPairs(Query<OptRead<BoxCollider>, OptRead<CapsuleCollider>, Read<Collid
                 switch (axis)
                 {
                 case 0: // X
-                    if (aabb->overlapsY(*otherAabb) && aabb->overlapsZ(*otherAabb))
+                    if (collider->worldAABB.overlapsY(otherCollider->worldAABB) &&
+                        collider->worldAABB.overlapsZ(otherCollider->worldAABB))
                     {
                         collisions->addCandidate(type, {entity, other});
                     }
                     break;
                 case 1: // Y
-                    if (aabb->overlapsX(*otherAabb) && aabb->overlapsZ(*otherAabb))
+                    if (collider->worldAABB.overlapsX(otherCollider->worldAABB) &&
+                        collider->worldAABB.overlapsZ(otherCollider->worldAABB))
                     {
                         collisions->addCandidate(type, {entity, other});
                     }
                     break;
                 case 2: // Z
-                    if (aabb->overlapsX(*otherAabb) && aabb->overlapsY(*otherAabb))
+                    if (collider->worldAABB.overlapsX(otherCollider->worldAABB) &&
+                        collider->worldAABB.overlapsY(otherCollider->worldAABB))
                     {
                         collisions->addCandidate(type, {entity, other});
                     }
diff --git a/engine/src/cubos/engine/collisions/broad_phase.hpp b/engine/src/cubos/engine/collisions/broad_phase.hpp
index acb1520180..856bef9e09 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.hpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.hpp
@@ -5,10 +5,10 @@
 
 #include <cubos/core/ecs/system/query.hpp>
 
-#include <cubos/engine/collisions/aabb.hpp>
 #include <cubos/engine/collisions/broad_phase_collisions.hpp>
-#include <cubos/engine/collisions/colliders/box.hpp>
-#include <cubos/engine/collisions/colliders/capsule.hpp>
+#include <cubos/engine/collisions/collider.hpp>
+#include <cubos/engine/collisions/shapes/box.hpp>
+#include <cubos/engine/collisions/shapes/capsule.hpp>
 #include <cubos/engine/transform/plugin.hpp>
 
 using cubos::core::ecs::Commands;
@@ -17,38 +17,38 @@ using cubos::core::ecs::Query;
 using cubos::core::ecs::Read;
 using cubos::core::ecs::Write;
 
-using cubos::engine::BoxCollider;
+using cubos::engine::BoxCollisionShape;
 using cubos::engine::BroadPhaseCollisions;
-using cubos::engine::CapsuleCollider;
-using cubos::engine::ColliderAABB;
+using cubos::engine::CapsuleCollisionShape;
+using cubos::engine::Collider;
 using cubos::engine::LocalToWorld;
 
-/// @brief Adds collision tracking to all new entities with colliders.
-template <typename C>
-void trackNewEntities(Query<Read<C>, OptRead<ColliderAABB>> query, Write<BroadPhaseCollisions> collisions,
+/// @brief Adds collider to all new entities with collision shape.
+template <typename S>
+void trackNewEntities(Query<Read<S>, OptRead<Collider>> query, Write<BroadPhaseCollisions> collisions,
                       Commands commands)
 {
-    // TODO: This query should eventually be replaced by Query<With<C>, Without<ColliderAABB>>
+    // TODO: This is a bit of a hack. We should detect newly added colliders instead of using them as a marker.
 
-    for (auto [entity, collider, aabb] : query)
+    for (auto [entity, shape, aabb] : query)
     {
         if (!aabb)
         {
-            commands.add(entity, ColliderAABB{});
+            commands.add(entity, Collider{});
             collisions->addEntity(entity);
         }
     }
 }
 
 /// @brief Updates the AABBs of all box colliders.
-void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollider>, Write<ColliderAABB>> query);
+void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Collider>> query);
 
 /// @brief Updates the AABBs of all capsule colliders.
-void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollider>, Write<ColliderAABB>> query,
+void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollisionShape>, Read<Collider>> query,
                         Write<BroadPhaseCollisions> collisions);
 
 /// @brief Updates the sweep markers of all colliders.
-void updateMarkers(Query<Read<ColliderAABB>> query, Write<BroadPhaseCollisions> collisions);
+void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions);
 
 /// @brief Performs a sweep of all colliders.
 void sweep(Write<BroadPhaseCollisions> collisions);
@@ -58,5 +58,5 @@ void sweep(Write<BroadPhaseCollisions> collisions);
 /// @details
 /// TODO: This query is disgusting. We need a way to find if a component is present without reading it.
 /// Maybe something like Commands but for reads?
-void findPairs(Query<OptRead<BoxCollider>, OptRead<CapsuleCollider>, Read<ColliderAABB>> query,
+void findPairs(Query<OptRead<BoxCollisionShape>, OptRead<CapsuleCollisionShape>, Read<Collider>> query,
                Write<BroadPhaseCollisions> collisions);
\ No newline at end of file
diff --git a/engine/src/cubos/engine/collisions/plugin.cpp b/engine/src/cubos/engine/collisions/plugin.cpp
index 0c04f3838b..ba3d66e0e9 100644
--- a/engine/src/cubos/engine/collisions/plugin.cpp
+++ b/engine/src/cubos/engine/collisions/plugin.cpp
@@ -1,4 +1,3 @@
-#include <cubos/engine/collisions/aabb.hpp>
 #include <cubos/engine/collisions/broad_phase_collisions.hpp>
 #include <cubos/engine/collisions/plugin.hpp>
 
@@ -10,13 +9,13 @@ void cubos::engine::collisionsPlugin(Cubos& cubos)
 
     cubos.addResource<BroadPhaseCollisions>();
 
-    cubos.addComponent<ColliderAABB>();
-    cubos.addComponent<BoxCollider>();
-    cubos.addComponent<CapsuleCollider>();
+    cubos.addComponent<Collider>();
+    cubos.addComponent<BoxCollisionShape>();
+    cubos.addComponent<CapsuleCollisionShape>();
 
-    cubos.system(trackNewEntities<BoxCollider>).tagged("cubos.collisions.aabb.missing");
-    cubos.system(trackNewEntities<CapsuleCollider>).tagged("cubos.collisions.aabb.missing");
-    cubos.tag("cubos.collisions.aabb.missing").before("cubos.collisions.aabb");
+    cubos.system(trackNewEntities<BoxCollisionShape>).tagged("cubos.collisions.missing");
+    cubos.system(trackNewEntities<CapsuleCollisionShape>).tagged("cubos.collisions.missing");
+    cubos.tag("cubos.collisions.missing").before("cubos.collisions.aabb");
 
     cubos.system(updateBoxAABBs).tagged("cubos.collisions.aabb");
     cubos.system(updateCapsuleAABBs).tagged("cubos.collisions.aabb");

From 4f7e5a26a0ab3ea250166a1b67a18cf5296ae7fe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Wed, 4 Oct 2023 22:27:05 +0100
Subject: [PATCH 2/9] refactor(collisions): shape agnostic aabb update

---
 .../cubos/engine/collisions/collider.hpp      |  5 ++++
 .../cubos/engine/collisions/shapes/box.hpp    |  7 ------
 engine/samples/collisions/main.cpp            |  3 ++-
 .../cubos/engine/collisions/broad_phase.cpp   | 24 +++++++++++--------
 .../cubos/engine/collisions/broad_phase.hpp   | 16 +++++++------
 engine/src/cubos/engine/collisions/plugin.cpp | 15 ++++++------
 6 files changed, 38 insertions(+), 32 deletions(-)

diff --git a/engine/include/cubos/engine/collisions/collider.hpp b/engine/include/cubos/engine/collisions/collider.hpp
index 7c83eb2a6b..8d3d7f30c8 100644
--- a/engine/include/cubos/engine/collisions/collider.hpp
+++ b/engine/include/cubos/engine/collisions/collider.hpp
@@ -19,5 +19,10 @@ namespace cubos::engine
         bool fresh = true;      ///< Whether the collider is fresh. This is an hack and should be done in ECS.
         ColliderAABB localAABB; ///< Local space AABB of the collider.
         ColliderAABB worldAABB; ///< World space AABB of the collider.
+
+        /// @brief Margin of the collider.
+        ///
+        /// When the collider shape has sharp edges, a margin is needed.
+        float margin = 0.0F;
     };
 } // namespace cubos::engine
diff --git a/engine/include/cubos/engine/collisions/shapes/box.hpp b/engine/include/cubos/engine/collisions/shapes/box.hpp
index d41c1cca33..ed5049f9a3 100644
--- a/engine/include/cubos/engine/collisions/shapes/box.hpp
+++ b/engine/include/cubos/engine/collisions/shapes/box.hpp
@@ -13,12 +13,5 @@ namespace cubos::engine
     struct [[cubos::component("cubos/box_collision_shape", VecStorage)]] BoxCollisionShape
     {
         cubos::core::geom::Box shape; ///< Box shape.
-
-        /// @brief Margin of the collider. Needed for collision stability.
-        ///
-        /// The collider margin avoids collision errors by rounding off sharp corners. It is
-        /// absolute so the collider's transform won't affect it. Shouldn't be changed without good
-        /// reason, as it's preferable to scale down the collider shape to account for it.
-        float margin = 0.04F;
     };
 } // namespace cubos::engine
diff --git a/engine/samples/collisions/main.cpp b/engine/samples/collisions/main.cpp
index fd71a01883..94c07e02b1 100644
--- a/engine/samples/collisions/main.cpp
+++ b/engine/samples/collisions/main.cpp
@@ -114,6 +114,7 @@ static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read
         {
             if (collider1 == entity || collider2 == entity)
             {
+                CUBOS_WARN("Collision detected!");
                 state->collided = true;
                 break;
             }
@@ -148,7 +149,7 @@ int main()
     cubos.startupSystem(addColliders);
 
     cubos.system(updateTransform).before("cubos.transform.update");
-    cubos.system(updateCollided).tagged("updated").after("cubos.collisions");
+    cubos.system(updateCollided).tagged("updated").after("cubos.collisions.broad");
     cubos.system(render).after("updated");
 
     cubos.run();
diff --git a/engine/src/cubos/engine/collisions/broad_phase.cpp b/engine/src/cubos/engine/collisions/broad_phase.cpp
index 9e81e893ac..811fa6b509 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.cpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.cpp
@@ -4,9 +4,9 @@ using cubos::engine::ColliderAABB;
 
 using CollisionType = BroadPhaseCollisions::CollisionType;
 
-void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Collider>> query)
+void setupBoxAABBs(Query<Read<BoxCollisionShape>, Write<Collider>> query)
 {
-    for (auto [entity, localToWorld, shape, collider] : query)
+    for (auto [entity, shape, collider] : query)
     {
         if (collider->fresh)
         {
@@ -15,7 +15,18 @@ void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Col
             collider->localAABB = ColliderAABB{diag[0], diag[1]};
             collider->fresh = false;
         }
+    }
+}
+
+void setupCapsuleAABBs(Query<Read<CapsuleCollisionShape>, Write<Collider>> query)
+{
+    (void)query;
+}
 
+void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query)
+{
+    for (auto [entity, localToWorld, collider] : query)
+    {
         // Get the 4 points of the collider.
         glm::vec3 corners[4];
         collider->localAABB.box().corners4(corners);
@@ -40,20 +51,13 @@ void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Col
         max = glm::max(max, glm::abs(rotatedCorners[3]));
 
         // Add the collider's margin.
-        max += glm::vec3{shape->margin};
+        max += glm::vec3{collider->margin};
 
         // Set the AABB.
         collider->worldAABB = ColliderAABB{translation - max, translation + max};
     }
 }
 
-void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollisionShape>, Read<Collider>> query,
-                        Write<BroadPhaseCollisions> collisions)
-{
-    (void)query;
-    (void)collisions;
-}
-
 void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions)
 {
     // TODO: This is parallelizable.
diff --git a/engine/src/cubos/engine/collisions/broad_phase.hpp b/engine/src/cubos/engine/collisions/broad_phase.hpp
index 856bef9e09..6596b6d1c8 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.hpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.hpp
@@ -30,9 +30,9 @@ void trackNewEntities(Query<Read<S>, OptRead<Collider>> query, Write<BroadPhaseC
 {
     // TODO: This is a bit of a hack. We should detect newly added colliders instead of using them as a marker.
 
-    for (auto [entity, shape, aabb] : query)
+    for (auto [entity, shape, collider] : query)
     {
-        if (!aabb)
+        if (!collider)
         {
             commands.add(entity, Collider{});
             collisions->addEntity(entity);
@@ -40,12 +40,14 @@ void trackNewEntities(Query<Read<S>, OptRead<Collider>> query, Write<BroadPhaseC
     }
 }
 
-/// @brief Updates the AABBs of all box colliders.
-void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Collider>> query);
+/// @brief Setups the AABBs of all box colliders.
+void setupBoxAABBs(Query<Read<BoxCollisionShape>, Write<Collider>> query);
 
-/// @brief Updates the AABBs of all capsule colliders.
-void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollisionShape>, Read<Collider>> query,
-                        Write<BroadPhaseCollisions> collisions);
+/// @brief Setups the AABBs of all capsule colliders.
+void setupCapsuleAABBs(Query<Read<CapsuleCollisionShape>, Write<Collider>> query);
+
+/// @brief Updates the AABBs of all colliders.
+void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query);
 
 /// @brief Updates the sweep markers of all colliders.
 void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions);
diff --git a/engine/src/cubos/engine/collisions/plugin.cpp b/engine/src/cubos/engine/collisions/plugin.cpp
index ba3d66e0e9..d483bf409b 100644
--- a/engine/src/cubos/engine/collisions/plugin.cpp
+++ b/engine/src/cubos/engine/collisions/plugin.cpp
@@ -15,15 +15,16 @@ void cubos::engine::collisionsPlugin(Cubos& cubos)
 
     cubos.system(trackNewEntities<BoxCollisionShape>).tagged("cubos.collisions.missing");
     cubos.system(trackNewEntities<CapsuleCollisionShape>).tagged("cubos.collisions.missing");
-    cubos.tag("cubos.collisions.missing").before("cubos.collisions.aabb");
+    cubos.tag("cubos.collisions.missing").before("cubos.collisions.aabb.setup");
 
-    cubos.system(updateBoxAABBs).tagged("cubos.collisions.aabb");
-    cubos.system(updateCapsuleAABBs).tagged("cubos.collisions.aabb");
-    cubos.tag("cubos.collisions.aabb").after("cubos.transform.update");
+    cubos.system(setupBoxAABBs).tagged("cubos.collisions.aabb.setup");
+    cubos.system(setupCapsuleAABBs).tagged("cubos.collisions.aabb.setup");
+    cubos.system(updateAABBs)
+        .after("cubos.collisions.aabb.setup")
+        .after("cubos.transform.update")
+        .before("cubos.collisions.broad.markers");
 
-    cubos.system(updateMarkers).tagged("cubos.collisions.broad.markers").after("cubos.collisions.aabb");
+    cubos.system(updateMarkers).tagged("cubos.collisions.broad.markers");
     cubos.system(sweep).tagged("cubos.collisions.broad.sweep").after("cubos.collisions.broad.markers");
     cubos.system(findPairs).tagged("cubos.collisions.broad").after("cubos.collisions.broad.sweep");
-
-    cubos.tag("cubos.collisions.broad").before("cubos.collisions");
 }

From e10a607f8d3cd4df0c0e46f475e31f95fa577ae6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Wed, 4 Oct 2023 22:51:41 +0100
Subject: [PATCH 3/9] refactor(collision): remove trackNewEntities

---
 .../cubos/engine/collisions/collider.hpp      |  5 ++--
 engine/samples/collisions/main.cpp            |  3 +-
 .../cubos/engine/collisions/broad_phase.cpp   | 10 +++++--
 .../cubos/engine/collisions/broad_phase.hpp   | 28 ++++---------------
 engine/src/cubos/engine/collisions/plugin.cpp | 10 ++-----
 5 files changed, 22 insertions(+), 34 deletions(-)

diff --git a/engine/include/cubos/engine/collisions/collider.hpp b/engine/include/cubos/engine/collisions/collider.hpp
index 8d3d7f30c8..c16ad9e6f2 100644
--- a/engine/include/cubos/engine/collisions/collider.hpp
+++ b/engine/include/cubos/engine/collisions/collider.hpp
@@ -16,13 +16,14 @@ namespace cubos::engine
     {
         glm::mat4 transform{1.0F}; ///< Transform of the collider.
 
-        bool fresh = true;      ///< Whether the collider is fresh. This is an hack and should be done in ECS.
         ColliderAABB localAABB; ///< Local space AABB of the collider.
         ColliderAABB worldAABB; ///< World space AABB of the collider.
 
         /// @brief Margin of the collider.
         ///
         /// When the collider shape has sharp edges, a margin is needed.
-        float margin = 0.0F;
+        float margin;
+
+        bool fresh = true; ///< Whether the collider is fresh. This is an hack and should be done in ECS.
     };
 } // namespace cubos::engine
diff --git a/engine/samples/collisions/main.cpp b/engine/samples/collisions/main.cpp
index 94c07e02b1..459442276b 100644
--- a/engine/samples/collisions/main.cpp
+++ b/engine/samples/collisions/main.cpp
@@ -61,6 +61,7 @@ static void init(Commands commands, Write<Input> input, Write<ActiveCameras> cam
 static void addColliders(Write<State> state, Commands commands)
 {
     state->a = commands.create()
+                   .add(Collider{})
                    .add(BoxCollisionShape{})
                    .add(LocalToWorld{})
                    .add(Position{glm::vec3{0.0F, 0.0F, -2.0F}})
@@ -69,6 +70,7 @@ static void addColliders(Write<State> state, Commands commands)
     state->aRotationAxis = glm::sphericalRand(1.0F);
 
     state->b = commands.create()
+                   .add(Collider{})
                    .add(BoxCollisionShape{})
                    .add(LocalToWorld{})
                    .add(Position{glm::vec3{0.0F, 0.0F, 2.0F}})
@@ -114,7 +116,6 @@ static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read
         {
             if (collider1 == entity || collider2 == entity)
             {
-                CUBOS_WARN("Collision detected!");
                 state->collided = true;
                 break;
             }
diff --git a/engine/src/cubos/engine/collisions/broad_phase.cpp b/engine/src/cubos/engine/collisions/broad_phase.cpp
index 811fa6b509..e8d959fe47 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.cpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.cpp
@@ -4,23 +4,29 @@ using cubos::engine::ColliderAABB;
 
 using CollisionType = BroadPhaseCollisions::CollisionType;
 
-void setupBoxAABBs(Query<Read<BoxCollisionShape>, Write<Collider>> query)
+void setupNewBoxes(Query<Read<BoxCollisionShape>, Write<Collider>> query, Write<BroadPhaseCollisions> collisions)
 {
     for (auto [entity, shape, collider] : query)
     {
         if (collider->fresh)
         {
+            collisions->addEntity(entity);
+
             glm::vec3 diag[2];
             shape->shape.diag(diag);
             collider->localAABB = ColliderAABB{diag[0], diag[1]};
+
+            collider->margin = 0.04F;
+
             collider->fresh = false;
         }
     }
 }
 
-void setupCapsuleAABBs(Query<Read<CapsuleCollisionShape>, Write<Collider>> query)
+void setupNewCapsules(Query<Read<CapsuleCollisionShape>, Write<Collider>> query, Write<BroadPhaseCollisions> collisions)
 {
     (void)query;
+    (void)collisions;
 }
 
 void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query)
diff --git a/engine/src/cubos/engine/collisions/broad_phase.hpp b/engine/src/cubos/engine/collisions/broad_phase.hpp
index 6596b6d1c8..51b8789b65 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.hpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.hpp
@@ -23,28 +23,12 @@ using cubos::engine::CapsuleCollisionShape;
 using cubos::engine::Collider;
 using cubos::engine::LocalToWorld;
 
-/// @brief Adds collider to all new entities with collision shape.
-template <typename S>
-void trackNewEntities(Query<Read<S>, OptRead<Collider>> query, Write<BroadPhaseCollisions> collisions,
-                      Commands commands)
-{
-    // TODO: This is a bit of a hack. We should detect newly added colliders instead of using them as a marker.
+/// @brief Setups new box colliders.
+void setupNewBoxes(Query<Read<BoxCollisionShape>, Write<Collider>> query, Write<BroadPhaseCollisions> collisions);
 
-    for (auto [entity, shape, collider] : query)
-    {
-        if (!collider)
-        {
-            commands.add(entity, Collider{});
-            collisions->addEntity(entity);
-        }
-    }
-}
-
-/// @brief Setups the AABBs of all box colliders.
-void setupBoxAABBs(Query<Read<BoxCollisionShape>, Write<Collider>> query);
-
-/// @brief Setups the AABBs of all capsule colliders.
-void setupCapsuleAABBs(Query<Read<CapsuleCollisionShape>, Write<Collider>> query);
+/// @brief Setups new capsule colliders.
+void setupNewCapsules(Query<Read<CapsuleCollisionShape>, Write<Collider>> query,
+                      Write<BroadPhaseCollisions> collisions);
 
 /// @brief Updates the AABBs of all colliders.
 void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query);
@@ -61,4 +45,4 @@ void sweep(Write<BroadPhaseCollisions> collisions);
 /// TODO: This query is disgusting. We need a way to find if a component is present without reading it.
 /// Maybe something like Commands but for reads?
 void findPairs(Query<OptRead<BoxCollisionShape>, OptRead<CapsuleCollisionShape>, Read<Collider>> query,
-               Write<BroadPhaseCollisions> collisions);
\ No newline at end of file
+               Write<BroadPhaseCollisions> collisions);
diff --git a/engine/src/cubos/engine/collisions/plugin.cpp b/engine/src/cubos/engine/collisions/plugin.cpp
index d483bf409b..2fda8b64c0 100644
--- a/engine/src/cubos/engine/collisions/plugin.cpp
+++ b/engine/src/cubos/engine/collisions/plugin.cpp
@@ -13,14 +13,10 @@ void cubos::engine::collisionsPlugin(Cubos& cubos)
     cubos.addComponent<BoxCollisionShape>();
     cubos.addComponent<CapsuleCollisionShape>();
 
-    cubos.system(trackNewEntities<BoxCollisionShape>).tagged("cubos.collisions.missing");
-    cubos.system(trackNewEntities<CapsuleCollisionShape>).tagged("cubos.collisions.missing");
-    cubos.tag("cubos.collisions.missing").before("cubos.collisions.aabb.setup");
-
-    cubos.system(setupBoxAABBs).tagged("cubos.collisions.aabb.setup");
-    cubos.system(setupCapsuleAABBs).tagged("cubos.collisions.aabb.setup");
+    cubos.system(setupNewBoxes).tagged("cubos.collisions.setup");
+    cubos.system(setupNewCapsules).tagged("cubos.collisions.setup");
     cubos.system(updateAABBs)
-        .after("cubos.collisions.aabb.setup")
+        .after("cubos.collisions.setup")
         .after("cubos.transform.update")
         .before("cubos.collisions.broad.markers");
 

From d8b5c31a3b0c3e82d5c5737c5b2f249d1877eaf3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Thu, 5 Oct 2023 00:20:15 +0100
Subject: [PATCH 4/9] refactor(geom): move aabb to core::geom

---
 core/include/cubos/core/geom/aabb.hpp         | 114 ++++++++++++++++++
 core/include/cubos/core/geom/capsule.hpp      |  11 ++
 .../include/cubos/engine/collisions/aabb.hpp  |  92 --------------
 .../cubos/engine/collisions/collider.hpp      |   6 +-
 .../cubos/engine/collisions/shapes/box.hpp    |   4 +-
 .../engine/collisions/shapes/capsule.hpp      |   4 +-
 engine/samples/collisions/main.cpp            |   3 +-
 .../cubos/engine/collisions/broad_phase.cpp   |  15 +--
 8 files changed, 139 insertions(+), 110 deletions(-)
 create mode 100644 core/include/cubos/core/geom/aabb.hpp
 delete mode 100644 engine/include/cubos/engine/collisions/aabb.hpp

diff --git a/core/include/cubos/core/geom/aabb.hpp b/core/include/cubos/core/geom/aabb.hpp
new file mode 100644
index 0000000000..6164839118
--- /dev/null
+++ b/core/include/cubos/core/geom/aabb.hpp
@@ -0,0 +1,114 @@
+/// @file
+/// @brief Component @ref cubos::core::geom::AABB.
+/// @ingroup core-geom
+
+#pragma once
+
+#include <glm/glm.hpp>
+
+#include <cubos/core/geom/box.hpp>
+
+namespace cubos::core::geom
+{
+    /// @brief Represents an axis-aligned bounding box.
+    /// @ingroup core-geom
+    struct AABB
+    {
+        /// @brief Diagonal of the AABB.
+        glm::vec3 diag[2] = {glm::vec3{-INFINITY}, glm::vec3{INFINITY}};
+
+        /// @brief Minimum point of the AABB.
+        /// @return Minimum point of the AABB.
+        glm::vec3 min() const
+        {
+            return diag[0];
+        }
+
+        /// @brief Maximum point of the AABB.
+        /// @return Maximum point of the AABB.
+        glm::vec3 max() const
+        {
+            return diag[1];
+        }
+
+        /// @brief Sets the minimum point of the AABB.
+        /// @param min Minimum point of the AABB.
+        void min(const glm::vec3& min)
+        {
+            diag[0] = min;
+        }
+
+        /// @brief Sets the maximum point of the AABB.
+        /// @param max Maximum point of the AABB.
+        void max(const glm::vec3& max)
+        {
+            diag[1] = max;
+        }
+
+        /// @brief Gets a @ref Box representation of the AABB.
+        /// @return @ref Box representation.
+        Box box() const
+        {
+            auto size = max() - min();
+            return Box{size / 2.0F};
+        }
+
+        /// @brief Gets the center of the AABB.
+        /// @return Center of the AABB.
+        glm::vec3 center() const
+        {
+            return (min() + max()) / 2.0F;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB on the X axis.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlapsX(const AABB& other) const
+        {
+            return min().x <= other.max().x && max().x >= other.min().x;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB on the Y axis.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlapsY(const AABB& other) const
+        {
+            return min().y <= other.max().y && max().y >= other.min().y;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB on the Z axis.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlapsZ(const AABB& other) const
+        {
+            return min().z <= other.max().z && max().z >= other.min().z;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlaps(const AABB& other) const
+        {
+            return overlapsX(other) && overlapsY(other) && overlapsZ(other);
+        }
+    };
+} // namespace cubos::core::geom
+
+namespace cubos::core::data::old
+{
+    inline void serialize(Serializer& ser, const core::geom::AABB& aabb, const char* name)
+    {
+        ser.beginObject(name);
+        ser.write(aabb.min(), "min");
+        ser.write(aabb.max(), "max");
+        ser.endObject();
+    }
+
+    inline void deserialize(Deserializer& des, core::geom::AABB& aabb)
+    {
+        des.beginObject();
+        des.read(aabb.diag[0]);
+        des.read(aabb.diag[1]);
+        des.endObject();
+    }
+} // namespace cubos::core::data::old
diff --git a/core/include/cubos/core/geom/capsule.hpp b/core/include/cubos/core/geom/capsule.hpp
index 8b777f13f8..ec967b9a2a 100644
--- a/core/include/cubos/core/geom/capsule.hpp
+++ b/core/include/cubos/core/geom/capsule.hpp
@@ -6,6 +6,7 @@
 
 #include <cubos/core/data/old/deserializer.hpp>
 #include <cubos/core/data/old/serializer.hpp>
+#include <cubos/core/geom/aabb.hpp>
 
 namespace cubos::core::geom
 {
@@ -30,6 +31,16 @@ namespace cubos::core::geom
         {
             return length + 2.0F * radius;
         }
+
+        /// @brief Computes the local AABB of the capsule.
+        /// @return Local AABB of the capsule.
+        AABB aabb() const
+        {
+            AABB aabb;
+            aabb.min({-radius, -radius, -radius});
+            aabb.max({radius, radius + length, radius});
+            return aabb;
+        }
     };
 } // namespace cubos::core::geom
 
diff --git a/engine/include/cubos/engine/collisions/aabb.hpp b/engine/include/cubos/engine/collisions/aabb.hpp
deleted file mode 100644
index c6de91c36b..0000000000
--- a/engine/include/cubos/engine/collisions/aabb.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-/// @file
-/// @brief Component @ref cubos::engine::ColliderAABB.
-/// @ingroup collisions-plugin
-
-#pragma once
-
-#include <glm/glm.hpp>
-
-#include <cubos/core/data/old/deserializer.hpp>
-#include <cubos/core/data/old/serializer.hpp>
-#include <cubos/core/geom/box.hpp>
-#include <cubos/core/log.hpp>
-
-namespace cubos::engine
-{
-    /// @brief AABB of a collider.
-    /// @ingroup collisions-plugin
-    struct ColliderAABB
-    {
-        /// @brief Minimum point of the diagonal of the AABB.
-        glm::vec3 min = glm::vec3{-INFINITY};
-
-        /// @brief Maximum point of the diagonal of the AABB.
-        glm::vec3 max = glm::vec3{INFINITY};
-
-        /// @brief Gets a @ref core::geom::Box representation of the AABB.
-        /// @return @ref core::geom::Box representation.
-        core::geom::Box box() const
-        {
-            auto size = max - min;
-            return core::geom::Box{size / 2.0F};
-        }
-
-        /// @brief Gets the center of the AABB.
-        /// @return Center of the AABB.
-        glm::vec3 center() const
-        {
-            return (min + max) / 2.0F;
-        }
-
-        /// @brief Checks if the AABB overlaps with another AABB on the X axis.
-        /// @param other Other AABB.
-        /// @return Whether the AABBs overlap.
-        bool overlapsX(const ColliderAABB& other) const
-        {
-            return min.x <= other.max.x && max.x >= other.min.x;
-        }
-
-        /// @brief Checks if the AABB overlaps with another AABB on the Y axis.
-        /// @param other Other AABB.
-        /// @return Whether the AABBs overlap.
-        bool overlapsY(const ColliderAABB& other) const
-        {
-            return min.y <= other.max.y && max.y >= other.min.y;
-        }
-
-        /// @brief Checks if the AABB overlaps with another AABB on the Z axis.
-        /// @param other Other AABB.
-        /// @return Whether the AABBs overlap.
-        bool overlapsZ(const ColliderAABB& other) const
-        {
-            return min.z <= other.max.z && max.z >= other.min.z;
-        }
-
-        /// @brief Checks if the AABB overlaps with another AABB.
-        /// @param other Other AABB.
-        /// @return Whether the AABBs overlap.
-        bool overlaps(const ColliderAABB& other) const
-        {
-            return overlapsX(other) && overlapsY(other) && overlapsZ(other);
-        }
-    };
-} // namespace cubos::engine
-
-namespace cubos::core::data::old
-{
-    inline void serialize(Serializer& ser, const engine::ColliderAABB& aabb, const char* name)
-    {
-        ser.beginObject(name);
-        ser.write(aabb.min, "min");
-        ser.write(aabb.max, "max");
-        ser.endObject();
-    }
-
-    inline void deserialize(Deserializer& des, engine::ColliderAABB& aabb)
-    {
-        des.beginObject();
-        des.read(aabb.min);
-        des.read(aabb.max);
-        des.endObject();
-    }
-} // namespace cubos::core::data::old
diff --git a/engine/include/cubos/engine/collisions/collider.hpp b/engine/include/cubos/engine/collisions/collider.hpp
index c16ad9e6f2..c9b609f7bf 100644
--- a/engine/include/cubos/engine/collisions/collider.hpp
+++ b/engine/include/cubos/engine/collisions/collider.hpp
@@ -6,7 +6,7 @@
 
 #include <glm/mat4x4.hpp>
 
-#include <cubos/engine/collisions/aabb.hpp>
+#include <cubos/core/geom/aabb.hpp>
 
 namespace cubos::engine
 {
@@ -16,8 +16,8 @@ namespace cubos::engine
     {
         glm::mat4 transform{1.0F}; ///< Transform of the collider.
 
-        ColliderAABB localAABB; ///< Local space AABB of the collider.
-        ColliderAABB worldAABB; ///< World space AABB of the collider.
+        core::geom::AABB localAABB{}; ///< Local space AABB of the collider.
+        core::geom::AABB worldAABB{}; ///< World space AABB of the collider.
 
         /// @brief Margin of the collider.
         ///
diff --git a/engine/include/cubos/engine/collisions/shapes/box.hpp b/engine/include/cubos/engine/collisions/shapes/box.hpp
index ed5049f9a3..01e6268a51 100644
--- a/engine/include/cubos/engine/collisions/shapes/box.hpp
+++ b/engine/include/cubos/engine/collisions/shapes/box.hpp
@@ -8,10 +8,10 @@
 
 namespace cubos::engine
 {
-    /// @brief Component which adds a box collision shape to an entity, used with a collider component.
+    /// @brief Component which adds a box collision shape to an entity, used with a @ref Collider component.
     /// @ingroup collisions-plugin
     struct [[cubos::component("cubos/box_collision_shape", VecStorage)]] BoxCollisionShape
     {
-        cubos::core::geom::Box shape; ///< Box shape.
+        cubos::core::geom::Box box; ///< Box shape.
     };
 } // namespace cubos::engine
diff --git a/engine/include/cubos/engine/collisions/shapes/capsule.hpp b/engine/include/cubos/engine/collisions/shapes/capsule.hpp
index b0285801fb..9a62f15bf5 100644
--- a/engine/include/cubos/engine/collisions/shapes/capsule.hpp
+++ b/engine/include/cubos/engine/collisions/shapes/capsule.hpp
@@ -8,10 +8,10 @@
 
 namespace cubos::engine
 {
-    /// @brief Component which adds a capsule collision shape to an entity, used with a collider component.
+    /// @brief Component which adds a capsule collision shape to an entity, used with a @ref Collider component.
     /// @ingroup collisions-plugin
     struct [[cubos::component("cubos/capsule_collision_shape", VecStorage)]] CapsuleCollisionShape
     {
-        cubos::core::geom::Capsule shape; ///< Capsule shape.
+        cubos::core::geom::Capsule capsule; ///< Capsule shape.
     };
 } // namespace cubos::engine
diff --git a/engine/samples/collisions/main.cpp b/engine/samples/collisions/main.cpp
index 459442276b..201ae59544 100644
--- a/engine/samples/collisions/main.cpp
+++ b/engine/samples/collisions/main.cpp
@@ -4,7 +4,6 @@
 #include <cubos/core/gl/debug.hpp>
 #include <cubos/core/log.hpp>
 
-#include <cubos/engine/collisions/aabb.hpp>
 #include <cubos/engine/collisions/broad_phase_collisions.hpp>
 #include <cubos/engine/collisions/collider.hpp>
 #include <cubos/engine/collisions/plugin.hpp>
@@ -127,7 +126,7 @@ static void render(Query<Read<LocalToWorld>, Read<Collider>, Read<BoxCollisionSh
 {
     for (auto [entity, localToWorld, collider, shape] : query)
     {
-        cubos::core::gl::Debug::drawWireBox(shape->shape, localToWorld->mat * collider->transform);
+        cubos::core::gl::Debug::drawWireBox(shape->box, localToWorld->mat * collider->transform);
         cubos::core::gl::Debug::drawWireBox(collider->worldAABB.box(),
                                             glm::translate(glm::mat4{1.0}, collider->worldAABB.center()),
                                             glm::vec3{1.0, 0.0, 0.0});
diff --git a/engine/src/cubos/engine/collisions/broad_phase.cpp b/engine/src/cubos/engine/collisions/broad_phase.cpp
index e8d959fe47..d2bc7df613 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.cpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.cpp
@@ -1,7 +1,5 @@
 #include "broad_phase.hpp"
 
-using cubos::engine::ColliderAABB;
-
 using CollisionType = BroadPhaseCollisions::CollisionType;
 
 void setupNewBoxes(Query<Read<BoxCollisionShape>, Write<Collider>> query, Write<BroadPhaseCollisions> collisions)
@@ -12,9 +10,7 @@ void setupNewBoxes(Query<Read<BoxCollisionShape>, Write<Collider>> query, Write<
         {
             collisions->addEntity(entity);
 
-            glm::vec3 diag[2];
-            shape->shape.diag(diag);
-            collider->localAABB = ColliderAABB{diag[0], diag[1]};
+            shape->box.diag(collider->localAABB.diag);
 
             collider->margin = 0.04F;
 
@@ -60,8 +56,9 @@ void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query)
         max += glm::vec3{collider->margin};
 
         // Set the AABB.
-        collider->worldAABB = ColliderAABB{translation - max, translation + max};
-    }
+        collider->worldAABB.min(translation - max);
+        collider->worldAABB.max(translation + max);
+    };
 }
 
 void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions)
@@ -75,8 +72,8 @@ void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> coll
             [axis, &query](const BroadPhaseCollisions::SweepMarker& a, const BroadPhaseCollisions::SweepMarker& b) {
                 auto [aCollider] = query[a.entity].value();
                 auto [bCollider] = query[b.entity].value();
-                auto aPos = a.isMin ? aCollider->worldAABB.min : aCollider->worldAABB.max;
-                auto bPos = b.isMin ? bCollider->worldAABB.min : bCollider->worldAABB.max;
+                auto aPos = a.isMin ? aCollider->worldAABB.min() : aCollider->worldAABB.max();
+                auto bPos = b.isMin ? bCollider->worldAABB.min() : bCollider->worldAABB.max();
                 return aPos[axis] < bPos[axis];
             });
     }

From daf9917ae56265188e3e420b3cdd1d1ec5d9dafb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Thu, 5 Oct 2023 00:20:38 +0100
Subject: [PATCH 5/9] docs(engine): better explain margin

---
 engine/include/cubos/engine/collisions/collider.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/engine/include/cubos/engine/collisions/collider.hpp b/engine/include/cubos/engine/collisions/collider.hpp
index c9b609f7bf..013334db67 100644
--- a/engine/include/cubos/engine/collisions/collider.hpp
+++ b/engine/include/cubos/engine/collisions/collider.hpp
@@ -22,6 +22,7 @@ namespace cubos::engine
         /// @brief Margin of the collider.
         ///
         /// When the collider shape has sharp edges, a margin is needed.
+        /// The plugin will set it based on the shape associated with the collider.
         float margin;
 
         bool fresh = true; ///< Whether the collider is fresh. This is an hack and should be done in ECS.

From ec61e500bc352380669d90e6bcf925eef6ee94b8 Mon Sep 17 00:00:00 2001
From: Ricardo Antunes <me@riscadoa.com>
Date: Tue, 3 Oct 2023 23:23:38 +0100
Subject: [PATCH 6/9] docs(cubos): add mising docs

---
 engine/include/cubos/engine/cubos.hpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/engine/include/cubos/engine/cubos.hpp b/engine/include/cubos/engine/cubos.hpp
index 8795511fb7..419083659c 100644
--- a/engine/include/cubos/engine/cubos.hpp
+++ b/engine/include/cubos/engine/cubos.hpp
@@ -22,7 +22,8 @@ namespace cubos::engine
     struct DeltaTime
     {
         DeltaTime(float value);
-        float value;
+
+        float value; ///< Time in seconds.
     };
 
     /// @brief Resource used as a flag to indicate whether the main loop should stop running.
@@ -33,7 +34,8 @@ namespace cubos::engine
     struct ShouldQuit
     {
         ShouldQuit(bool value);
-        bool value;
+
+        bool value; ///< Whether the main loop should stop running.
     };
 
     /// @brief Resource which stores the command-line arguments.
@@ -44,7 +46,8 @@ namespace cubos::engine
     struct Arguments
     {
         Arguments(std::vector<std::string> value);
-        const std::vector<std::string> value;
+
+        const std::vector<std::string> value; ///< Command-line arguments.
     };
 
     /// @brief Used to chain configurations related to tags.

From c547dce0d12868460b5d2d5057e0d66e2cbcfbcb Mon Sep 17 00:00:00 2001
From: roby2014 <robyawyx@gmail.com>
Date: Wed, 4 Oct 2023 14:33:14 +0100
Subject: [PATCH 7/9] fix(misc): fixed `.clang-format`

---
 .clang-format | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.clang-format b/.clang-format
index e17cdc3bd9..aa33d224f3 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,7 +1,6 @@
 ---
 BasedOnStyle: Microsoft
 NamespaceIndentation: All
-SortIncludes: 'false'
 IndentWidth: 4
 AccessModifierOffset: -4
 DerivePointerAlignment: false

From 4d8f377545151c5f4bfcc0d443ea170a549b91c2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Thu, 5 Oct 2023 09:24:18 +0100
Subject: [PATCH 8/9] fix(geom): use vec3.hpp instead of glm.hpp

---
 core/include/cubos/core/geom/aabb.hpp | 2 +-
 core/include/cubos/core/geom/box.hpp  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/core/include/cubos/core/geom/aabb.hpp b/core/include/cubos/core/geom/aabb.hpp
index 6164839118..98e145df91 100644
--- a/core/include/cubos/core/geom/aabb.hpp
+++ b/core/include/cubos/core/geom/aabb.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <glm/glm.hpp>
+#include <glm/vec3.hpp>
 
 #include <cubos/core/geom/box.hpp>
 
diff --git a/core/include/cubos/core/geom/box.hpp b/core/include/cubos/core/geom/box.hpp
index 9745020181..54c1b197a1 100644
--- a/core/include/cubos/core/geom/box.hpp
+++ b/core/include/cubos/core/geom/box.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <glm/glm.hpp>
+#include <glm/vec3.hpp>
 
 #include <cubos/core/data/old/deserializer.hpp>
 #include <cubos/core/data/old/serializer.hpp>

From 9eeda4110338adfba3c46f6ac138e3cbc447f845 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Thu, 5 Oct 2023 09:43:42 +0100
Subject: [PATCH 9/9] fix(geom): replace INFINITY by numeric_limits

---
 core/include/cubos/core/geom/aabb.hpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/core/include/cubos/core/geom/aabb.hpp b/core/include/cubos/core/geom/aabb.hpp
index 98e145df91..64bb8a77f0 100644
--- a/core/include/cubos/core/geom/aabb.hpp
+++ b/core/include/cubos/core/geom/aabb.hpp
@@ -15,7 +15,8 @@ namespace cubos::core::geom
     struct AABB
     {
         /// @brief Diagonal of the AABB.
-        glm::vec3 diag[2] = {glm::vec3{-INFINITY}, glm::vec3{INFINITY}};
+        glm::vec3 diag[2] = {glm::vec3{-std::numeric_limits<float>::infinity()},
+                             glm::vec3{-std::numeric_limits<float>::infinity()}};
 
         /// @brief Minimum point of the AABB.
         /// @return Minimum point of the AABB.