From 10ad1a2c4d41f1255540f3639583a10f48151dba Mon Sep 17 00:00:00 2001
From: Alexapp <alexsandrshamarin@yandex.ru>
Date: Thu, 12 Jun 2025 01:02:36 +0300
Subject: [PATCH 1/2] Add get position and rotation properties

---
 .../components/rigid-body/component.js        | 42 +++++++++++++++++++
 1 file changed, 42 insertions(+)

diff --git a/src/framework/components/rigid-body/component.js b/src/framework/components/rigid-body/component.js
index 41c8d44a8a3..2fc240250f7 100644
--- a/src/framework/components/rigid-body/component.js
+++ b/src/framework/components/rigid-body/component.js
@@ -173,6 +173,12 @@ class RigidBodyComponent extends Component {
     /** @private */
     _type = BODYTYPE_STATIC;
 
+    /** @private */
+    _position = new Vec3();
+
+    /** @private */
+    _rotation = new Quat();
+
     /** @ignore */
     static onLibraryLoaded() {
         // Lazily create shared variable
@@ -196,6 +202,42 @@ class RigidBodyComponent extends Component {
         _ammoQuat = null;
     }
 
+    /**
+     * The position of the rigidbody.
+     *
+     * @returns {Vec3} the position of the rigidbody.
+     */
+    get position() {
+
+        if (this._body && this._type === BODYTYPE_DYNAMIC) {
+
+            const currentTransform = this._body.getWorldTransform();
+            const currentPosition  = currentTransform.getOrigin();
+
+            return this._position.set(currentPosition.x(), currentPosition.y(), currentPosition.z());
+        }
+
+        return this.entity.getPosition();
+    }
+
+    /**
+     * The rotation of the rigidbody.
+     *
+     * @returns {Quat} the rotation of the rigidbody.
+     */
+    get rotation() {
+
+        if (this._body && this._type === BODYTYPE_DYNAMIC) {
+
+            const currentTransform = this._body.getWorldTransform();
+            const currentRotation  = currentTransform.getRotation();
+
+            return this._rotation.set(currentRotation.x(), currentRotation.y(), currentRotation.z(), currentRotation.w());
+        }
+
+        return this.entity.getRotation();
+    }
+
     /**
      * Sets the rate at which a body loses angular velocity over time.
      *

From e2f163530d8eaa69854bee63548723688038a1ec Mon Sep 17 00:00:00 2001
From: Alexapp <alexsandrshamarin@yandex.ru>
Date: Thu, 12 Jun 2025 01:32:55 +0300
Subject: [PATCH 2/2] Added offset support

---
 .../components/rigid-body/component.js        | 62 +++++++++++++------
 1 file changed, 42 insertions(+), 20 deletions(-)

diff --git a/src/framework/components/rigid-body/component.js b/src/framework/components/rigid-body/component.js
index 2fc240250f7..b25bfb870ba 100644
--- a/src/framework/components/rigid-body/component.js
+++ b/src/framework/components/rigid-body/component.js
@@ -208,16 +208,8 @@ class RigidBodyComponent extends Component {
      * @returns {Vec3} the position of the rigidbody.
      */
     get position() {
-
-        if (this._body && this._type === BODYTYPE_DYNAMIC) {
-
-            const currentTransform = this._body.getWorldTransform();
-            const currentPosition  = currentTransform.getOrigin();
-
-            return this._position.set(currentPosition.x(), currentPosition.y(), currentPosition.z());
-        }
-
-        return this.entity.getPosition();
+        this.getPositionAndRotation(this._position, this._rotation);
+        return this._position;
     }
 
     /**
@@ -226,16 +218,8 @@ class RigidBodyComponent extends Component {
      * @returns {Quat} the rotation of the rigidbody.
      */
     get rotation() {
-
-        if (this._body && this._type === BODYTYPE_DYNAMIC) {
-
-            const currentTransform = this._body.getWorldTransform();
-            const currentRotation  = currentTransform.getRotation();
-
-            return this._rotation.set(currentRotation.x(), currentRotation.y(), currentRotation.z(), currentRotation.w());
-        }
-
-        return this.entity.getRotation();
+        this.getPositionAndRotation(this._position, this._rotation);
+        return this._rotation;
     }
 
     /**
@@ -1108,6 +1092,44 @@ class RigidBodyComponent extends Component {
         }
     }
 
+    /**
+     * Returns the position and rotation of the rigidbody
+     *
+     * @param {Vec3} goalPos - The out position of the rigidbody.
+     * @param {Quat} goalRot - The out rotation of the rigidbody.
+     */
+    getPositionAndRotation(goalPos, goalRot) {
+
+        if (this._body && this._type === BODYTYPE_DYNAMIC) {
+
+            const t = this._body.getWorldTransform();
+            const p = t.getOrigin();
+            const q = t.getRotation();
+
+            const component = this.entity.collision;
+            if (component && component._hasOffset) {
+                const lo = component.data.linearOffset;
+                const ao = component.data.angularOffset;
+
+                // Un-rotate the angular offset and then use the new rotation to
+                // un-translate the linear offset in local space
+                // Order of operations matter here
+                const invertedAo = _quat2.copy(ao).invert();
+
+                goalRot.set(q.x(), q.y(), q.z(), q.w()).mul(invertedAo);
+                goalRot.transformVector(lo, _vec3);
+                goalPos.set(p.x() - _vec3.x, p.y() - _vec3.y, p.z() - _vec3.z);
+
+            } else {
+                goalPos.set(p.x(), p.y(), p.z());
+                goalRot.set(q.x(), q.y(), q.z(), q.w());
+            }
+        } else {
+            goalPos.copy(this.entity.getPosition());
+            goalRot.copy(this.entity.getRotation());
+        }
+    }
+
     /**
      * Sets an entity's transform to match that of the world transformation matrix of a dynamic
      * rigid body's motion state.