Added shape sweeping in C#

NuakeNet/src/Physic.cs

@@ -0,0 +1,234 @@
+using Coral.Managed.Interop;
+using Nuake.Net.Physics.Shapes;
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Numerics;
+using System.Text;
+using System.Text.RegularExpressions;
+using System.Threading.Tasks;
+
+namespace Nuake.Net
+{
+
+    namespace Physics
+    {
+        namespace Shapes
+        {
+            public class Box 
+            {
+                public float Width { get; set; } = 1.0f;
+                public float Height { get; set; } = 1.0f;
+                public float Depth { get; set; } = 1.0f;
+
+                public Box(float width, float height, float depth) 
+                {
+                    Width = width;
+                    Height = height;
+                    Depth = depth;
+                }
+
+                public Box(Vector3 size)
+                {
+                    Width = size.X;
+                    Height = size.Y;
+                    Depth = size.Z;
+                }
+
+                public Vector3 GetSize()
+                {
+                    return new Vector3(Width, Height, Depth);
+                }
+
+                public void SetSize(Vector3 size)
+                {
+                    Width = size.X;
+                    Height = size.Y;
+                    Depth = size.Z;
+                }
+            }
+
+            public class Sphere 
+            {
+                public float Radius { get; set; } = 0.5f;
+
+                public Sphere(float radius)
+                {
+                    Radius = radius;
+                }
+            }
+
+            public class Capsule 
+            {
+                public float Radius { get; set; } = 0.5f;
+                public float Height { get; set; } = 1.0f;
+
+                public Capsule(float radius, float height)
+                {
+                    Radius = radius;
+                    Height = height;
+                }
+            }
+
+            public class Cylinder
+            {
+                public float Radius { get; set; } = 0.5f;
+                public float Height { get; set; } = 1.0f;
+
+                public Cylinder(float radius, float height)
+                {
+                    Radius = radius;
+                    Height = height;
+                }
+            }
+        }
+    }
+
+    public class Physic
+    {
+        public struct ShapeCastResult
+        {
+            public Vector3 ImpactPosition;
+            public Vector3 ImpactNormal;
+            public float Fraction;
+        }
+        public struct BoxInternal
+        {
+            public float X;
+            public float Y;
+            public float Z;
+        }
+
+        public struct CapsuleInternal
+        {
+            public float Radius;
+            public float Height;
+        }
+
+        internal static unsafe delegate*<float, float, float, float, float, float, BoxInternal, NativeArray<float>> ShapeCastBoxIcall;
+        internal static unsafe delegate*<float, float, float, float, float, float, float, NativeArray<float>> ShapeCastSphereIcall;
+        internal static unsafe delegate*<float, float, float, float, float, float, CapsuleInternal, NativeArray<float>> ShapeCastCapsuleIcall;
+        internal static unsafe delegate*<float, float, float, float, float, float, CapsuleInternal, NativeArray<float>> ShapeCastCylinderIcall;
+        public static List<ShapeCastResult> ShapeCast(Vector3 from, Vector3 to, Box box)
+        {
+            List<ShapeCastResult> result = [];
+
+            BoxInternal boxInternal = new()
+            {
+                X = box.Width,
+                Y = box.Height,
+                Z = box.Depth
+            };
+
+            unsafe
+            {
+                NativeArray<float> resultICall = ShapeCastBoxIcall(from.X, from.Y, from.Z, to.X, to.Y, to.Z, boxInternal);
+
+                
+                for (int i = 0; i < resultICall.Length / 7; i++)
+                {
+                    int index = i * 7;
+                    ShapeCastResult shapeCastResult = new()
+                    {
+                        ImpactPosition = new Vector3(resultICall[index + 0], resultICall[index + 1], resultICall[index + 2]),
+                        ImpactNormal = new Vector3(resultICall[index + 3], resultICall[index + 4], resultICall[index + 5]),
+                        Fraction = resultICall[index + 6]
+                    };
+
+                    result.Add(shapeCastResult);
+                }
+            }
+
+            return result;
+        }
+
+        public static List<ShapeCastResult> ShapeCast(Vector3 from, Vector3 to, Sphere sphere)
+        {
+            List<ShapeCastResult> result = [];
+
+            unsafe
+            {
+                NativeArray<float> resultICall = ShapeCastSphereIcall(from.X, from.Y, from.Z, to.X, to.Y, to.Z, sphere.Radius);
+
+                for (int i = 0; i < resultICall.Length / 7; i++)
+                {
+                    int index = i * 7;
+                    ShapeCastResult shapeCastResult = new()
+                    {
+                        ImpactPosition = new Vector3(resultICall[index + 0], resultICall[index + 1], resultICall[index + 2]),
+                        ImpactNormal = new Vector3(resultICall[index + 3], resultICall[index + 4], resultICall[index + 5]),
+                        Fraction = resultICall[index + 6]
+                    };
+
+                    result.Add(shapeCastResult);
+                }
+            }
+
+            return result;
+        }
+
+        public static List<ShapeCastResult> ShapeCast(Vector3 from, Vector3 to, Capsule capsule)
+        {
+            List<ShapeCastResult> result = new List<ShapeCastResult>();
+
+            CapsuleInternal capsuleInternal = new()
+            {
+                Radius = capsule.Radius,
+                Height = capsule.Height
+            };
+
+            unsafe
+            {
+                NativeArray<float> resultICall = ShapeCastCapsuleIcall(from.X, from.Y, from.Z, to.X, to.Y, to.Z, capsuleInternal);
+
+                for (int i = 0; i < resultICall.Length / 7; i++)
+                {
+                    int index = i * 7;
+                    ShapeCastResult shapeCastResult = new()
+                    {
+                        ImpactPosition = new Vector3(resultICall[index + 0], resultICall[index + 1], resultICall[index + 2]),
+                        ImpactNormal = new Vector3(resultICall[index + 3], resultICall[index + 4], resultICall[index + 5]),
+                        Fraction = resultICall[index + 6]
+                    };
+
+                    result.Add(shapeCastResult);
+                }
+            }
+
+            return result;
+        }
+
+        public static List<ShapeCastResult> ShapeCast(Vector3 from, Vector3 to, Cylinder cylinder)
+        {
+            List<ShapeCastResult> result = [];
+
+            CapsuleInternal cylinderInternal = new()
+            {
+                Radius = cylinder.Radius,
+                Height = cylinder.Height
+            };
+
+            unsafe
+            {
+                NativeArray<float> resultICall = ShapeCastCylinderIcall(from.X, from.Y, from.Z, to.X, to.Y, to.Z, cylinderInternal);
+
+                for (int i = 0; i < resultICall.Length / 7; i++)
+                {
+                    int index = i * 7;
+                    ShapeCastResult shapeCastResult = new()
+                    {
+                        ImpactPosition = new Vector3(resultICall[index + 0], resultICall[index + 1], resultICall[index + 2]),
+                        ImpactNormal = new Vector3(resultICall[index + 3], resultICall[index + 4], resultICall[index + 5]),
+                        Fraction = resultICall[index + 6]
+                    };
+
+                    result.Add(shapeCastResult);
+                }
+            }
+
+            return result;
+        }
+    }
+}
+