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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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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)
{