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Added ray cast functions

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This commit is contained in:
n00b
2024-12-14 15:13:55 -05:00
parent 447bc241d7
commit f392bdebfc
19 changed files with 3563 additions and 1013 deletions
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970
rcbasic_runtime/rc_defines.h
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File diff suppressed because it is too large Load Diff

20
rcbasic_runtime/rc_func130_cases.h
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@@ -1,4 +1,4 @@
case FN_Fprint: //Sub Procedure
case FN_FPrint: //Sub Procedure
rc_fprint( FPRINT_TXT$ );
break;
case FN_Input$: //String Function
@@ -1646,6 +1646,15 @@ case FN_SetWorld2DAutoClearForces: //Sub Procedure
case FN_GetWorld2DAutoClearForces: //Number Function
rc_push_num(rc_getWorld2DAutoClearForces( ));
break;
case FN_CastRay2D: //Number Function
rc_push_num(rc_castRay2D( CASTRAY2D_FROM_X, CASTRAY2D_FROM_Y, CASTRAY2D_TO_X, CASTRAY2D_TO_Y ));
break;
case FN_CastRay2D_All: //Number Function
rc_push_num(rc_castRay2D_All( CASTRAY2D_ALL_FROM_X, CASTRAY2D_ALL_FROM_Y, CASTRAY2D_ALL_TO_X, CASTRAY2D_ALL_TO_Y ));
break;
case FN_GetRayHit2D: //Sub Procedure
rc_getRayHit2D( GETRAYHIT2D_INDEX, &GETRAYHIT2D_SPR_ID, &GETRAYHIT2D_X, &GETRAYHIT2D_Y, &GETRAYHIT2D_NORMAL_X, &GETRAYHIT2D_NORMAL_Y );
break;
case FN_createDistanceJoint: //Number Function
rc_push_num(rc_createDistanceJoint( CREATEDISTANCEJOINT_SPRITEA, CREATEDISTANCEJOINT_SPRITEB, CREATEDISTANCEJOINT_AX, CREATEDISTANCEJOINT_AY, CREATEDISTANCEJOINT_BX, CREATEDISTANCEJOINT_BY, CREATEDISTANCEJOINT_COLLIDE_CONNECT ));
break;
@@ -2234,6 +2243,15 @@ case FN_getActorLocalInertia: //Sub Procedure
case FN_SetActorSleepState: //Sub Procedure
rc_setActorSleepState( SETACTORSLEEPSTATE_ACTOR, SETACTORSLEEPSTATE_STATE );
break;
case FN_CastRay3D: //Number Function
rc_push_num(rc_castRay3D( CASTRAY3D_FROM_X, CASTRAY3D_FROM_Y, CASTRAY3D_FROM_Z, CASTRAY3D_TO_X, CASTRAY3D_TO_Y, CASTRAY3D_TO_Z ));
break;
case FN_CastRay3D_All: //Number Function
rc_push_num(rc_castRay3D_All( CASTRAY3D_ALL_FROM_X, CASTRAY3D_ALL_FROM_Y, CASTRAY3D_ALL_FROM_Z, CASTRAY3D_ALL_TO_X, CASTRAY3D_ALL_TO_Y, CASTRAY3D_ALL_TO_Z ));
break;
case FN_GetRayHit3D: //Sub Procedure
rc_getRayHit3D( GETRAYHIT3D_INDEX, &GETRAYHIT3D_ACTOR_ID, &GETRAYHIT3D_X, &GETRAYHIT3D_Y, &GETRAYHIT3D_Z, &GETRAYHIT3D_NORMAL_X, &GETRAYHIT3D_NORMAL_Y, &GETRAYHIT3D_NORMAL_Z );
break;
case FN_createPointConstraint: //Number Function
rc_push_num(rc_createPointConstraint( CREATEPOINTCONSTRAINT_ACTORA, CREATEPOINTCONSTRAINT_PXA, CREATEPOINTCONSTRAINT_PYA, CREATEPOINTCONSTRAINT_PZA ));
break;

2
rcbasic_runtime/rc_gfx_core.h
View File

@@ -5,10 +5,12 @@
#include "SDL.h"
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#else
#include <SDL2/SDL.h>
#include <bullet/btBulletDynamicsCommon.h>
#include <BulletSoftBody/btSoftRigidDynamicsWorld.h>
#include <bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h>
#endif // _IRR_ANDROID_PLATFORM_
#include <irrlicht.h>
#include <iostream>

2
rcbasic_runtime/rc_os_defines.h
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@@ -2,7 +2,7 @@
#define RC_OS_DEFINES_H_INCLUDED
//USED FOR TESTING ONLY
#define RC_TESTING
//#define RC_TESTING
//I am checking Android first since I think it also defines __linux__

87
rcbasic_runtime/rc_physics3D_base.h
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@@ -3,6 +3,93 @@
#include "rc_gfx_core.h"
struct rc_rayHit3D_obj
{
int actor_id;
btVector3 hit_point;
btVector3 hit_normal;
};
irr::core::array<rc_rayHit3D_obj> rc_rayHit3D;
///all hits
int rc_castRay3D_All(double from_x, double from_y, double from_z, double to_x, double to_y, double to_z)
{
rc_rayHit3D.clear();
btVector3 from(from_x, from_y, from_z);
btVector3 to(to_x, to_y, to_z);
//m_dynamicsWorld->getDebugDrawer()->drawLine(from, to, btVector4(0, 0, 0, 1));
btCollisionWorld::AllHitsRayResultCallback allResults(from, to);
allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
//kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
//allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
rc_physics3D.world->getPointer()->rayTest(from, to, allResults);
for (int i = 0; i < allResults.m_hitFractions.size(); i++)
{
rc_rayHit3D_obj hit;
hit.hit_point = from.lerp(to, allResults.m_hitFractions[i]);
hit.hit_normal = allResults.m_hitNormalWorld[i];
btRigidBody* body = (btRigidBody*)allResults.m_collisionObjects[i];
SCollisionObjectIdentification* colID = (SCollisionObjectIdentification*)body->getUserPointer();
hit.actor_id = colID->getId();
rc_rayHit3D.push_back(hit);
//m_dynamicsWorld->getDebugDrawer()->drawSphere(p, 0.1, red);
//m_dynamicsWorld->getDebugDrawer()->drawLine(p, p + allResults.m_hitNormalWorld[i], red);
}
return allResults.m_hitFractions.size();
}
///first hit
bool rc_castRay3D(double from_x, double from_y, double from_z, double to_x, double to_y, double to_z)
{
rc_rayHit3D.clear();
btVector3 from(from_x, from_y, from_z);
btVector3 to(to_x, to_y, to_z);
//m_dynamicsWorld->getDebugDrawer()->drawLine(from, to, btVector4(0, 0, 1, 1));
btCollisionWorld::ClosestRayResultCallback closestResults(from, to);
closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
rc_physics3D.world->getPointer()->rayTest(from, to, closestResults);
if (closestResults.hasHit())
{
rc_rayHit3D_obj hit;
hit.hit_point = from.lerp(to, closestResults.m_closestHitFraction);
hit.hit_normal = closestResults.m_hitNormalWorld;
btRigidBody* body = (btRigidBody*)closestResults.m_collisionObject;
SCollisionObjectIdentification* colID = (SCollisionObjectIdentification*)body->getUserPointer();
hit.actor_id = colID->getId();
rc_rayHit3D.push_back(hit);
//m_dynamicsWorld->getDebugDrawer()->drawSphere(p, 0.1, blue);
//m_dynamicsWorld->getDebugDrawer()->drawLine(p, p + closestResults.m_hitNormalWorld, blue);
}
return closestResults.hasHit();
}
void rc_getRayHit3D( int index, double* actor_id, double* x, double* y, double* z, double* normal_x, double* normal_y, double* normal_z )
{
if(index < 0 || index >= rc_rayHit3D.size())
{
*actor_id = -1;
return;
}
*actor_id = rc_rayHit3D[index].actor_id;
*x = rc_rayHit3D[index].hit_point.getX();
*y = rc_rayHit3D[index].hit_point.getY();
*z = rc_rayHit3D[index].hit_point.getZ();
*normal_x = rc_rayHit3D[index].hit_normal.getX();
*normal_y = rc_rayHit3D[index].hit_normal.getY();
*normal_z = rc_rayHit3D[index].hit_normal.getZ();
}
//Set Gravity
void rc_setGravity3D(double x, double y, double z)
{

112
rcbasic_runtime/rc_sprite_physics.h
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@@ -586,3 +586,115 @@ void rc_getGravity2D(double* x, double* y)
*x = rc_canvas[rc_active_canvas].physics2D.world->GetGravity().x;
*y = rc_canvas[rc_active_canvas].physics2D.world->GetGravity().y;
}
// Custom callback to collect all ray cast hits
class RayCastCallback : public b2RayCastCallback {
public:
struct Hit {
b2Fixture* fixture;
b2Vec2 point;
b2Vec2 normal;
float fraction;
};
std::vector<Hit> hits;
// This function is called for every fixture hit by the ray
float ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float fraction) override {
hits.push_back({fixture, point, normal, fraction});
return 1.0f; // Continue the ray cast to find all hits
}
};
struct rc_rayHit2D_obj
{
int sprite_id;
b2Vec2 hit_point;
b2Vec2 hit_normal;
};
std::vector<rc_rayHit2D_obj> rc_rayHit2D;
// Function to perform a ray cast and collect all hits
int rc_castRay2D_All(double from_x, double from_y, double to_x, double to_y)
{
rc_rayHit2D.clear();
RayCastCallback callback;
const b2Vec2 point1(from_x, from_y);
const b2Vec2 point2(to_x, to_y);
rc_canvas[rc_active_canvas].physics2D.world->RayCast(&callback, point1, point2);
std::vector<RayCastCallback::Hit> cb_hits = callback.hits;
for(int i = 0; i < cb_hits.size(); i++)
{
rc_rayHit2D_obj hit;
rc_sprite2D_obj* h_sprite = (rc_sprite2D_obj*)cb_hits[i].fixture->GetBody()->GetUserData().pointer;
hit.sprite_id = h_sprite->id;
hit.hit_point = cb_hits[i].point;
hit.hit_normal = cb_hits[i].normal;
rc_rayHit2D.push_back(hit);
}
return cb_hits.size();
}
// Function to perform a ray cast and collect the closest hit
int rc_castRay2D(double from_x, double from_y, double to_x, double to_y)
{
rc_rayHit2D.clear();
RayCastCallback callback;
const b2Vec2 point1(from_x, from_y);
const b2Vec2 point2(to_x, to_y);
rc_canvas[rc_active_canvas].physics2D.world->RayCast(&callback, point1, point2);
std::vector<RayCastCallback::Hit> cb_hits = callback.hits;
float min_fraction = 0;
int index = 0;
for(int i = 0; i < cb_hits.size(); i++)
{
rc_rayHit2D_obj hit;
rc_sprite2D_obj* h_sprite = (rc_sprite2D_obj*)cb_hits[i].fixture->GetBody()->GetUserData().pointer;
hit.sprite_id = h_sprite->id;
hit.hit_point = cb_hits[i].point;
hit.hit_normal = cb_hits[i].normal;
if(i == 0 || cb_hits[i].fraction < min_fraction)
{
min_fraction = cb_hits[i].fraction;
index = rc_rayHit2D.size();
rc_rayHit2D.push_back(hit);
}
}
if(cb_hits.size() == 0)
return 0;
rc_rayHit2D_obj min_hit = rc_rayHit2D[index];
rc_rayHit2D.clear();
rc_rayHit2D.push_back(min_hit);
return 1;
}
void rc_getRayHit2D(int index, double* spr_id, double* x, double* y, double* normal_x, double* normal_y)
{
if(index < 0 || index >= rc_rayHit2D.size())
{
*spr_id = -1;
return;
}
*spr_id = rc_rayHit2D[index].sprite_id;
*x = rc_rayHit2D[index].hit_point.x;
*y = rc_rayHit2D[index].hit_point.y;
*normal_x = rc_rayHit2D[index].hit_normal.x;
*normal_y = rc_rayHit2D[index].hit_normal.y;
}

18
rcbasic_runtime/rcbasic_runtime.depend
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@@ -36,7 +36,7 @@
1734119283 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_os_defines.h
<TargetConditionals.h>
1733959765 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_defines.h
1734207007 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_defines.h
1730291453 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_stdlib.h
"rc_os_defines.h"
@@ -1272,13 +1272,15 @@
"rc_joints.h"
<irrtheora.h>
1733777902 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_gfx_core.h
1734192650 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_gfx_core.h
"SDL.h"
"btBulletDynamicsCommon.h"
"BulletSoftBody/btSoftRigidDynamicsWorld.h"
"BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
<SDL2/SDL.h>
<bullet/btBulletDynamicsCommon.h>
<BulletSoftBody/btSoftRigidDynamicsWorld.h>
<bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h>
<irrlicht.h>
<iostream>
<sstream>
@@ -2273,7 +2275,7 @@
"rc_gfx_core.h"
<irrtheora.h>
1733959765 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_func130_cases.h
1734207007 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_func130_cases.h
1724469097 source:/home/n00b/Projects/irrBullet/src/irrBullet.cpp
"irrBullet.h"
@@ -2506,7 +2508,7 @@
<irrlicht.h>
<vector>
1731903210 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_sprite_physics.h
1734205862 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_sprite_physics.h
"rc_sprite2D.h"
1730291453 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_joints.h
@@ -2515,10 +2517,10 @@
"rc_sprite2D.h"
"rc_gfx_core.h"
1733590876 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_physics3D_base.h
1734206925 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_physics3D_base.h
"rc_gfx_core.h"
1734125778 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_base_actor.h
1734138955 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_base_actor.h
1731710840 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_actor_material.h
@@ -2539,3 +2541,7 @@
1733959687 /home/n00b/Projects/RCBASIC4/rcbasic_runtime/rc_windowclose.h
1608686973 /usr/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
"BulletCollision/CollisionShapes/btTriangleCallback.h"
"LinearMath/btTransform.h"