Nuake/NuakeNet/Source/Physic.cs

using Coral.Managed.Interop;
using Nuake.Net.Shapes;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Numerics;
using System.Runtime.InteropServices;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using static Nuake.Net.Physic;

namespace Nuake.Net
{

    namespace Shapes
    {
        [StructLayout(LayoutKind.Sequential)]
        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;
            }
        }

        [StructLayout(LayoutKind.Sequential)]
        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;
            }
        }

        [StructLayout(LayoutKind.Sequential)]
        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 Layers Layer;
            public Entity Collider;
        }
        public struct BoxInternal
        {
            public float X;
            public float Y;
            public float Z;
        }

        public struct CapsuleInternal
        {
            public float Radius;
            public float Height;
        }

        public enum Layers
        {
            NON_MOVING = 0,
            MOVING = 1,
            KINEMATIC = 2,
            CHARACTER_GHOST = 3,
            CHARACTER = 4,
            SENSORS = 5
        }

        internal static unsafe delegate*<float, float, float, float, float, float, NativeArray<float>> RayCastIcall;
        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> RayCast(Vector3 from, Vector3 to)
        {
            List<ShapeCastResult> result = [];
            unsafe
            {
                NativeArray<float> resultICall = RayCastIcall(from.X, from.Y, from.Z, to.X, to.Y, to.Z);
                for (int i = 0; i < resultICall.Length / 9; i++)
                {
                    int index = i * 9;
                    int entityId = (int)resultICall[index + 8];

                    bool hasInstance = Entity.EntityHasManagedInstanceIcall(entityId);
                    Entity entityInstance;
                    if (hasInstance)
                    {
                        entityInstance = Scene.GetEntity<Entity>(entityId);
                    }
                    else
                    {
                        entityInstance = new Entity(entityId);
                    }

                    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],
                        Layer = (Layers)resultICall[index + 7],
                        Collider = entityInstance
                    };

                    result.Add(shapeCastResult);
                }

                return result;
            }
        }

        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 / 8; i++)
                {
                    int index = i * 8;
                    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],
                        Layer = (Layers)resultICall[index + 7],
                    };

                    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],
                        Layer = (Layers)resultICall[index + 7]
                    };

                    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],
                        Layer = (Layers)resultICall[index + 7]
                    };

                    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],
                        Layer = (Layers)resultICall[index + 7]
                    };

                    result.Add(shapeCastResult);
                }
            }

            return result;
        }
    }
}