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Added raycast to physics world

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This commit is contained in:
Antoine Pilote
2023-07-23 16:19:14 -04:00
parent e31dc40645
commit fc8628fb4f
3 changed files with 46 additions and 25 deletions
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43
Nuake/src/Core/Physics/DynamicWorld.cpp
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@@ -28,6 +28,10 @@
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Jolt/Physics/Body/BodyActivationListener.h>
#include <Jolt/Physics/Character/Character.h>
#include <Jolt/Physics/Collision/RayCast.h>
#include <Jolt/Physics/Collision/CastResult.h>
#include <dependencies/JoltPhysics/Jolt/Physics/Collision/CollisionCollectorImpl.h>
namespace Nuake
{
@@ -211,6 +215,7 @@ namespace Nuake
_JoltPhysicsSystem = CreateRef<JPH::PhysicsSystem>();
_JoltPhysicsSystem->Init(MaxBodies, NumBodyMutexes, MaxBodyPairs, MaxContactConstraints, JoltBroadphaseLayerInterface, MyBroadPhaseCanCollide, MyObjectCanCollide);
// A body activation listener gets notified when bodies activate and go to sleep
// Note that this is called from a job so whatever you do here needs to be thread safe.
// Registering one is entirely optional.
@@ -322,20 +327,36 @@ namespace Nuake
return false;
}
RaycastResult DynamicWorld::Raycast(const Vector3& from, const Vector3& to)
std::vector<RaycastResult> DynamicWorld::Raycast(const Vector3& from, const Vector3& to)
{
Vector3 localNorm = Vector3(0,0,0);
// Create jolt ray
const auto& fromJolt = JPH::Vec3(from.x, from.y, from.z);
const auto& toJolt = JPH::Vec3(to.x, to.y, to.z);
JPH::RayCast ray { fromJolt, toJolt - fromJolt };
JPH::AllHitCollisionCollector<JPH::RayCastBodyCollector> collector;
_JoltPhysicsSystem->GetBroadPhaseQuery().CastRay(ray, collector);
//Logger::Log("normal: x:" + std::to_string(localNorm.x) + " y:" + std::to_string(localNorm.y )+ "z: " + std::to_string(localNorm.z));
// Map bullet result to dto.
RaycastResult result{
Vector3(0,0,0),
Vector3(0,0,0),
localNorm
};
// Fetch results
int num_hits = (int)collector.mHits.size();
JPH::BroadPhaseCastResult* results = collector.mHits.data();
return result;
// Format result
std::vector<RaycastResult> raycastResults;
for (int i = 0; i < num_hits; ++i)
{
const float hitFraction = results[i].mFraction;
const JPH::Vec3& hitPosition = ray.GetPointOnRay(results[i].mFraction);
RaycastResult result
{
Vector3(hitPosition.GetX(), hitPosition.GetY(), hitPosition.GetZ()),
hitFraction
};
raycastResults.push_back(std::move(result));
}
return raycastResults;
}
void DynamicWorld::SyncEntitiesTranforms()