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World:shapecast;

This commit is contained in:
bjorn 2024-04-26 01:08:59 -07:00
parent 5f6880f8ef
commit ee76f3418a
4 changed files with 101 additions and 20 deletions
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23
src/api/l_physics_world.c
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@ -221,6 +221,28 @@ static int l_lovrWorldRaycast(lua_State* L) {
return 0;
}
static int l_lovrWorldShapecast(lua_State* L) {
World* world = luax_checktype(L, 1, World);
int index = 2;
Shapecast shapecast;
shapecast.shape = luax_checktype(L, index++, Shape);
index = luax_readvec3(L, index, shapecast.start, NULL);
index = luax_readvec3(L, index, shapecast.end, NULL);
shapecast.scale = luax_optfloat(L, index++, 1.f);
index = luax_readquat(L, index, shapecast.orientation, NULL);
if (lua_isnoneornil(L, index)) {
CastResult hit;
if (lovrWorldShapecast(world, &shapecast, castClosestCallback, &hit)) {
return luax_pushcastresult(L, &hit);
}
} else {
luaL_checktype(L, index, LUA_TFUNCTION);
lua_settop(L, index);
lovrWorldShapecast(world, &shapecast, castCallback, L);
}
return 0;
}
static int l_lovrWorldQueryBox(lua_State* L) {
World* world = luax_checktype(L, 1, World);
float position[3], size[3];
@ -396,6 +418,7 @@ const luaL_Reg lovrWorld[] = {
{ "getJoints", l_lovrWorldGetJoints },
{ "update", l_lovrWorldUpdate },
{ "raycast", l_lovrWorldRaycast },
{ "shapecast", l_lovrWorldShapecast },
{ "queryBox", l_lovrWorldQueryBox },
{ "querySphere", l_lovrWorldQuerySphere },
{ "getGravity", l_lovrWorldGetGravity },

9
src/modules/physics/physics.h
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@ -47,6 +47,14 @@ typedef struct {
float end[3];
} Raycast;
typedef struct {
Shape* shape;
float start[3];
float end[3];
float scale;
float orientation[4];
} Shapecast;
typedef struct {
Collider* collider;
Shape* shape;
@ -67,6 +75,7 @@ Collider* lovrWorldGetColliders(World* world, Collider* collider);
Joint* lovrWorldGetJoints(World* world, Joint* joint);
void lovrWorldUpdate(World* world, float dt);
bool lovrWorldRaycast(World* world, Raycast* raycast, CastCallback* callback, void* userdata);
bool lovrWorldShapecast(World* world, Shapecast* shapecast, CastCallback* callback, void* userdata);
bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback* callback, void* userdata);
bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback* callback, void* userdata);
void lovrWorldGetGravity(World* world, float gravity[3]);

85
src/modules/physics/physics_jolt.c
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@ -188,13 +188,14 @@ void lovrWorldUpdate(World* world, float dt) {
typedef struct {
World* world;
Raycast* raycast;
Shapecast* shapecast;
CastCallback* callback;
void* userdata;
} RaycastContext;
} CastContext;
static float raycastCallback(void* arg, JPH_RayCastResult* result) {
RaycastContext* ctx = arg;
CastResult hit;
CastContext* ctx = arg;
Raycast* raycast = ctx->raycast;
hit.collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(ctx->world->bodies, result->bodyID);
hit.shape = subshapeToShape(hit.collider, result->subShapeID2);
@ -218,7 +219,7 @@ bool lovrWorldRaycast(World* world, Raycast* raycast, CastCallback* callback, vo
JPH_RVec3* origin = vec3_toJolt(raycast->start);
JPH_Vec3* direction = vec3_toJolt(dir);
RaycastContext context = {
CastContext context = {
.world = world,
.raycast = raycast,
.callback = callback,
@ -228,27 +229,64 @@ bool lovrWorldRaycast(World* world, Raycast* raycast, CastCallback* callback, vo
return JPH_NarrowPhaseQuery_CastRay2(query, origin, direction, raycastCallback, &context, NULL, NULL, NULL);
}
static float shapecastCallback(void* arg, JPH_ShapeCastResult* result) {
CastResult hit;
CastContext* ctx = arg;
Shapecast* shapecast = ctx->shapecast;
hit.collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(ctx->world->bodies, result->bodyID2);
hit.shape = subshapeToShape(hit.collider, result->subShapeID2);
vec3_fromJolt(hit.position, &result->contactPointOn2);
JPH_Vec3 normal;
JPH_Body_GetWorldSpaceSurfaceNormal(hit.collider->body, result->subShapeID2, &result->contactPointOn2, &normal);
vec3_fromJolt(hit.normal, &normal);
hit.fraction = result->fraction;
return ctx->callback(ctx->userdata, &hit);
}
bool lovrWorldShapecast(World* world, Shapecast* shapecast, CastCallback callback, void* userdata) {
const JPH_NarrowPhaseQuery* query = JPH_PhysicsSystem_GetNarrowPhaseQueryNoLock(world->system);
JPH_Shape* shape = shapecast->shape->shape;
JPH_Vec3 centerOfMass;
JPH_Shape_GetCenterOfMass(shape, &centerOfMass);
JPH_RMatrix4x4 transform;
mat4_fromPose(&transform.m11, shapecast->start, shapecast->orientation);
mat4_translate(&transform.m11, centerOfMass.x, centerOfMass.y, centerOfMass.z);
mat4_scale(&transform.m11, shapecast->scale, shapecast->scale, shapecast->scale); // TODO does this work, or should we use scale arg?
float dir[3];
vec3_init(dir, shapecast->end);
vec3_sub(dir, shapecast->start);
JPH_Vec3* direction = vec3_toJolt(dir);
JPH_RVec3 offset = { 0.f, 0.f, 0.f };
CastContext context = {
.world = world,
.shapecast = shapecast,
.callback = callback,
.userdata = userdata
};
return JPH_NarrowPhaseQuery_CastShape(query, shape, &transform, direction, &offset, shapecastCallback, &context, NULL, NULL, NULL);
}
typedef struct {
World* world;
QueryCallback* callback;
void* userdata;
} QueryInfo;
} QueryContext;
static void queryCallback(void* arg, JPH_BodyID id) {
QueryInfo* query = arg;
Collider* collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(query->world->bodies, id);
if (query->callback) query->callback(query->userdata, collider);
QueryContext* ctx = arg;
Collider* collider = (Collider*) (uintptr_t) JPH_BodyInterface_GetUserData(ctx->world->bodies, id);
if (ctx->callback) ctx->callback(ctx->userdata, collider);
}
bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback* callback, void* userdata) {
const JPH_BroadPhaseQuery* query = JPH_PhysicsSystem_GetBroadPhaseQuery(world->system);
QueryInfo info = {
.world = world,
.callback = callback,
.userdata = userdata
};
JPH_AABox box;
box.min.x = position[0] - size[0] * .5f;
box.min.y = position[1] - size[1] * .5f;
@ -256,19 +294,26 @@ bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCall
box.max.x = position[0] + size[0] * .5f;
box.max.y = position[1] + size[1] * .5f;
box.max.z = position[2] + size[2] * .5f;
return JPH_BroadPhaseQuery_CollideAABox(query, &box, queryCallback, &info, NULL, NULL);
}
bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback* callback, void* userdata) {
const JPH_BroadPhaseQuery* query = JPH_PhysicsSystem_GetBroadPhaseQuery(world->system);
QueryInfo info = {
QueryContext context = {
.world = world,
.callback = callback,
.userdata = userdata
};
return JPH_BroadPhaseQuery_CollideSphere(query, vec3_toJolt(position), radius, queryCallback, &info, NULL, NULL);
return JPH_BroadPhaseQuery_CollideAABox(query, &box, queryCallback, &context, NULL, NULL);
}
bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback* callback, void* userdata) {
const JPH_BroadPhaseQuery* query = JPH_PhysicsSystem_GetBroadPhaseQuery(world->system);
QueryContext context = {
.world = world,
.callback = callback,
.userdata = userdata
};
return JPH_BroadPhaseQuery_CollideSphere(query, vec3_toJolt(position), radius, queryCallback, &context, NULL, NULL);
}
void lovrWorldGetGravity(World* world, float gravity[3]) {

4
src/modules/physics/physics_ode.c
View File

@ -299,6 +299,10 @@ bool lovrWorldRaycast(World* world, Raycast* raycast, CastCallback* callback, vo
return false;
}
bool lovrWorldShapecast(World* world, Shapecast* shapecast, CastCallback* callback, void* userdata) {
lovrThrow("NYI");
}
bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback* callback, void* userdata) {
QueryData data = { .callback = callback, .userdata = userdata, .called = false, .shouldStop = false };
dGeomID box = dCreateBox(world->space, fabsf(size[0]), fabsf(size[1]), fabsf(size[2]));