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JoltPhysics3D: Add raycast hit normal

This commit is contained in:
SirLynix 2023-03-30 13:23:05 +02:00 committed by Jérôme Leclercq
parent 1387ac6e35
commit d697450a60
2 changed files with 21 additions and 9 deletions
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2
include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp
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@ -15,6 +15,7 @@
#include <NazaraUtils/FunctionRef.hpp> #include <NazaraUtils/FunctionRef.hpp>
#include <NazaraUtils/MovablePtr.hpp> #include <NazaraUtils/MovablePtr.hpp>
#include <atomic> #include <atomic>
#include <optional>
#include <vector> #include <vector>
namespace JPH namespace JPH
@ -63,6 +64,7 @@ namespace Nz
{ {
float fraction; float fraction;
JoltRigidBody3D* hitBody = nullptr; JoltRigidBody3D* hitBody = nullptr;
Vector3f hitNormal;
Vector3f hitPosition; Vector3f hitPosition;
}; };

28
src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp
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@ -163,7 +163,7 @@ namespace Nz
{ {
namespace NAZARA_ANONYMOUS_NAMESPACE namespace NAZARA_ANONYMOUS_NAMESPACE
{ {
class CallbackHitResult : public JPH::RayCastBodyCollector class CallbackHitResult : public JPH::CastRayCollector
{ {
public: public:
CallbackHitResult(const JPH::BodyLockInterface& bodyLockInterface, const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const JoltPhysWorld3D::RaycastHit& hitInfo)>& callback) : CallbackHitResult(const JPH::BodyLockInterface& bodyLockInterface, const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const JoltPhysWorld3D::RaycastHit& hitInfo)>& callback) :
@ -175,7 +175,7 @@ namespace Nz
{ {
} }
void AddHit(const JPH::BroadPhaseCastResult& result) override void AddHit(const JPH::RayCastResult& result) override
{ {
JoltPhysWorld3D::RaycastHit hitInfo; JoltPhysWorld3D::RaycastHit hitInfo;
hitInfo.fraction = result.mFraction; hitInfo.fraction = result.mFraction;
@ -185,7 +185,10 @@ namespace Nz
if (!lock.Succeeded()) if (!lock.Succeeded())
return; //< body was destroyed return; //< body was destroyed
hitInfo.hitBody = reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(lock.GetBody().GetUserData())); JPH::Body& body = lock.GetBody();
hitInfo.hitBody = reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(body.GetUserData()));
hitInfo.hitNormal = FromJolt(body.GetWorldSpaceSurfaceNormal(result.mSubShapeID2, ToJolt(hitInfo.hitPosition)));
if (auto fractionOpt = m_callback(hitInfo)) if (auto fractionOpt = m_callback(hitInfo))
{ {
@ -336,24 +339,28 @@ namespace Nz
bool JoltPhysWorld3D::RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback) bool JoltPhysWorld3D::RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback)
{ {
JPH::RayCast rayCast; JPH::RRayCast rayCast;
rayCast.mDirection = ToJolt(to - from); rayCast.mDirection = ToJolt(to - from);
rayCast.mOrigin = ToJolt(from); rayCast.mOrigin = ToJolt(from);
JPH::RayCastSettings rayCastSettings;
CallbackHitResult collector(m_world->physicsSystem.GetBodyLockInterface(), from, to, callback); CallbackHitResult collector(m_world->physicsSystem.GetBodyLockInterface(), from, to, callback);
m_world->physicsSystem.GetBroadPhaseQuery().CastRay(rayCast, collector); m_world->physicsSystem.GetNarrowPhaseQuery().CastRay(rayCast, rayCastSettings, collector);
return collector.DidHit(); return collector.DidHit();
} }
bool JoltPhysWorld3D::RaycastQueryFirst(const Vector3f& from, const Vector3f& to, const FunctionRef<void(const RaycastHit& hitInfo)>& callback) bool JoltPhysWorld3D::RaycastQueryFirst(const Vector3f& from, const Vector3f& to, const FunctionRef<void(const RaycastHit& hitInfo)>& callback)
{ {
JPH::RayCast rayCast; JPH::RRayCast rayCast;
rayCast.mDirection = ToJolt(to - from); rayCast.mDirection = ToJolt(to - from);
rayCast.mOrigin = ToJolt(from); rayCast.mOrigin = ToJolt(from);
JPH::ClosestHitCollisionCollector<JPH::RayCastBodyCollector> collector; JPH::RayCastSettings rayCastSettings;
m_world->physicsSystem.GetBroadPhaseQuery().CastRay(rayCast, collector);
JPH::ClosestHitCollisionCollector<JPH::CastRayCollector> collector;
m_world->physicsSystem.GetNarrowPhaseQuery().CastRay(rayCast, rayCastSettings, collector);
if (!collector.HadHit()) if (!collector.HadHit())
return false; return false;
@ -362,10 +369,13 @@ namespace Nz
if (!lock.Succeeded()) if (!lock.Succeeded())
return false; //< body was destroyed before lock return false; //< body was destroyed before lock
JPH::Body& body = lock.GetBody();
RaycastHit hitInfo; RaycastHit hitInfo;
hitInfo.fraction = collector.mHit.GetEarlyOutFraction(); hitInfo.fraction = collector.mHit.GetEarlyOutFraction();
hitInfo.hitPosition = Lerp(from, to, hitInfo.fraction); hitInfo.hitPosition = Lerp(from, to, hitInfo.fraction);
hitInfo.hitBody = reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(lock.GetBody().GetUserData())); hitInfo.hitBody = reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(body.GetUserData()));
hitInfo.hitNormal = FromJolt(body.GetWorldSpaceSurfaceNormal(collector.mHit.mSubShapeID2, rayCast.GetPointOnRay(collector.mHit.GetEarlyOutFraction())));
return true; return true;
} }