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rb_mesh_collider_raycast.lua
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rb_mesh_collider_raycast.lua
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hg = require("harfang")
hg.AddAssetsFolder('assets_compiled')
-- main window
hg.InputInit()
hg.WindowSystemInit()
res_x, res_y = 1280, 720
win = hg.RenderInit('Physics Test', res_x, res_y, hg.RF_VSync | hg.RF_MSAA4X)
pipeline = hg.CreateForwardPipeline()
res = hg.PipelineResources()
-- physics debug
vtx_line_layout = hg.VertexLayoutPosFloatColorUInt8()
line_shader = hg.LoadProgramFromAssets("shaders/pos_rgb")
-- setup the scene
scene = hg.Scene()
cam_mat = hg.TransformationMat4(hg.Vec3(0, 1.0, -2.15), hg.Vec3(hg.Deg(30), 0, 0))
cam = hg.CreateCamera(scene, cam_mat, 0.01, 1000)
view_matrix = hg.InverseFast(cam_mat)
c = cam:GetCamera()
projection_matrix = hg.ComputePerspectiveProjectionMatrix(c:GetZNear(), c:GetZFar(), hg.FovToZoomFactor(c:GetFov()),
hg.Vec2(res_x / res_y, 1))
scene:SetCurrentCamera(cam)
lgt = hg.CreateLinearLight(scene, hg.TransformationMat4(hg.Vec3(0, 0, 0), hg.Vec3(hg.Deg(30), hg.Deg(30), 0)),
hg.Color(1, 1, 1), hg.Color(1, 1, 1), 10, hg.LST_Map, 0.0001, hg.Vec4(2, 4, 10, 16))
cube_instance, _ = hg.CreateInstanceFromAssets(scene, hg.TranslationMat4(hg.Vec3(0, 0, 0)), "plane_vertice_grid/plane_vertice_grid.scn",
res, hg.GetForwardPipelineInfo())
-- scene physics
physics = hg.SceneBullet3Physics()
physics:SceneCreatePhysicsFromAssets(scene)
physics_step = hg.time_from_sec_f(1 / 60)
dt_frame_step = hg.time_from_sec_f(1 / 60)
clocks = hg.SceneClocks()
-- description
hg.SetLogLevel(hg.LL_Normal)
print(
">>> Description:\n>>> Create a mesh collider with subdivided surface from .physics_bullet file from the plane geometry and test the collisions with raycasts.")
-- init mesh physics
plan_node = scene:GetNode("Plan")
mesh_col = scene:CreateCollision()
mesh_col:SetType(hg.CT_Mesh)
mesh_col:SetCollisionResource("plane_vertice_grid/Plan_38.physics_bullet")
mesh_col:SetMass(0)
plan_node:SetCollision(0, mesh_col)
-- create rigid body
rb = scene:CreateRigidBody()
rb:SetType(hg.RBT_Static)
rb:SetFriction(0.498)
rb:SetRollingFriction(0)
plan_node:SetRigidBody(rb)
physics:NodeCreatePhysicsFromAssets(plan_node)
-- main loop
keyboard = hg.Keyboard()
mouse = hg.Mouse()
cam_pos = cam:GetTransform():GetPos()
cam_rot = cam:GetTransform():GetRot()
vtx = hg.Vertices(vtx_line_layout, 2)
vid_scene_opaque = 0
local frame_count = 0
while not keyboard:Down(hg.K_Escape) and hg.IsWindowOpen(win) do
keyboard:Update()
mouse:Update()
dt = hg.TickClock()
if keyboard:Down(hg.K_LShift) then
s = 20
else
s = 8
end
hg.FpsController(keyboard, mouse, cam_pos, cam_rot, s, dt)
cam:GetTransform():SetPos(cam_pos)
cam:GetTransform():SetRot(cam_rot)
-- for i = -8, 8 do
-- for o = -8, 8 do
-- start_pos = hg.Vec3(0 + i * 0.125, 0.1, 0 + o * 0.125)
-- end_pos = hg.Vec3(0 + i * 0.125, -0.1, 0 + o * 0.125)
-- raycast_out = physics:RaycastFirstHit(scene, start_pos, end_pos)
-- if raycast_out.node:IsValid() then
-- vtx:Clear()
-- vtx:Begin(0):SetPos(start_pos):SetColor0(hg.Color.Green):End()
-- vtx:Begin(1):SetPos(raycast_out.P):SetColor0(hg.Color.Green):End()
-- hg.DrawLines(vid_scene_opaque, vtx, line_shader) -- submit all lines in a single call
-- else
-- vtx:Clear()
-- vtx:Begin(0):SetPos(start_pos):SetColor0(hg.Color.Red):End()
-- vtx:Begin(1):SetPos(end_pos):SetColor0(hg.Color.Red):End()
-- hg.DrawLines(vid_scene_opaque, vtx, line_shader) -- submit all lines in a single call
-- end
-- end
-- end
for i = -20, 20, 2 do
for o = -20, 20, 2 do
start_pos = hg.Vec3(0 + i * 0.05, 0.1, 0 + o * 0.05)
end_pos = hg.Vec3(0 + i * 0.05, -0.1, 0 + o * 0.05)
raycast_out = physics:RaycastFirstHit(scene, start_pos, end_pos)
if raycast_out.node:IsValid() then
vtx:Clear()
vtx:Begin(0):SetPos(start_pos):SetColor0(hg.Color.Yellow):End()
vtx:Begin(1):SetPos(raycast_out.P):SetColor0(hg.Color.Yellow):End()
hg.DrawLines(vid_scene_opaque, vtx, line_shader) -- submit all lines in a single call
else
vtx:Clear()
vtx:Begin(0):SetPos(start_pos):SetColor0(hg.Color.Red):End()
vtx:Begin(1):SetPos(end_pos):SetColor0(hg.Color.Red):End()
hg.DrawLines(vid_scene_opaque, vtx, line_shader) -- submit all lines in a single call
end
end
end
view_id = 0
hg.SceneUpdateSystems(scene, clocks, dt_frame_step, physics, physics_step, 3)
view_id, pass_id = hg.SubmitSceneToPipeline(view_id, scene, hg.IntRect(0, 0, res_x, res_y), true, pipeline, res)
vid_scene_opaque = hg.GetSceneForwardPipelinePassViewId(pass_id, hg.SFPP_Opaque)
-- Debug physics display
hg.SetViewClear(view_id, 0, 0, 1.0, 0)
hg.SetViewRect(view_id, 0, 0, res_x, res_y)
cam_mat = cam:GetTransform():GetWorld()
view_matrix = hg.InverseFast(cam_mat)
c = cam:GetCamera()
projection_matrix = hg.ComputePerspectiveProjectionMatrix(c:GetZNear(), c:GetZFar(), hg.FovToZoomFactor(c:GetFov()),
hg.Vec2(res_x / res_y, 1))
hg.SetViewTransform(view_id, view_matrix, projection_matrix)
rs = hg.ComputeRenderState(hg.BM_Opaque, hg.DT_Disabled, hg.FC_Disabled)
physics:RenderCollision(view_id, vtx_line_layout, line_shader, rs, 0)
frame_count = frame_count + 1
hg.Frame()
hg.UpdateWindow(win)
end
scene:Clear()
scene:GarbageCollect()
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()