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rb_raycast_various_collshapes.lua
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rb_raycast_various_collshapes.lua
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hg = require("harfang")
function CreatePhysicCapsuleEx(scene, radius, height, mtx, model_ref, materials, rb_type, mass)
local rb_type = rb_type or hg.RBT_Dynamic
local mass = mass or 0
local node = hg.CreateObject(scene, mtx, model_ref, materials)
node:SetName("Physic Capsule")
local rb = scene:CreateRigidBody()
rb:SetType(rb_type)
node:SetRigidBody(rb)
-- create custom capsule collision
local col = scene:CreateCollision()
col:SetType(hg.CT_Capsule)
col:SetRadius(radius)
col:SetHeight(height)
col:SetMass(mass)
-- set capsule as collision shape
node:SetCollision(0, col)
return node, rb
end
function CreatePhysicConeEx(scene, radius, height, mtx, model_ref, materials, rb_type, mass)
local rb_type = rb_type or hg.RBT_Dynamic
local mass = mass or 0
local node = hg.CreateObject(scene, mtx, model_ref, materials)
node:SetName("Physic Cone")
local rb = scene:CreateRigidBody()
rb:SetType(rb_type)
node:SetRigidBody(rb)
-- create custom cone collision
local col = scene:CreateCollision()
col:SetType(hg.CT_Cone)
col:SetRadius(radius)
col:SetHeight(height)
col:SetMass(mass)
-- set cone as collision shape
node:SetCollision(0, col)
return node, rb
end
function CreatePhysicCylinderEx(scene, radius, height, mtx, model_ref, materials, rb_type, mass)
local rb_type = rb_type or hg.RBT_Dynamic
local mass = mass or 0
local node = hg.CreateObject(scene, mtx, model_ref, materials)
node:SetName("Physic Cylinder")
local rb = scene:CreateRigidBody()
rb:SetType(rb_type)
node:SetRigidBody(rb)
-- create custom cylinder collision
local col = scene:CreateCollision()
col:SetType(hg.CT_Cylinder)
col:SetRadius(radius)
col:SetHeight(height)
col:SetMass(mass)
-- set cylinder as collision shape
node:SetCollision(0, col)
return node, rb
end
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")
-- create material
pbr_shader = hg.LoadPipelineProgramRefFromAssets('core/shader/pbr.hps', res, hg.GetForwardPipelineInfo())
mat_grey = hg.CreateMaterial(pbr_shader, 'uBaseOpacityColor', hg.Vec4(1, 1, 1), 'uOcclusionRoughnessMetalnessColor', hg.Vec4(1, 0.5, 0.05))
-- create models
vtx_layout = hg.VertexLayoutPosFloatNormUInt8()
-- cube
cube_size = hg.Vec3(1, 1, 1)
cube_ref = res:AddModel('cube', hg.CreateCubeModel(vtx_layout, cube_size.x, cube_size.y, cube_size.z))
-- sphere
sphere_radius = 0.5
sphere_ref = res:AddModel('sphere', hg.CreateSphereModel(vtx_layout, sphere_radius, 8, 8))
-- capsule
capsule_radius = 0.5
capsule_height = 1
capsule_ref = res:AddModel('capsule', hg.CreateCapsuleModel(vtx_layout, capsule_radius, capsule_height, 8, 8))
-- cone
cone_radius = 0.5
cone_height = 1
cone_ref = res:AddModel('cone', hg.CreateConeModel(vtx_layout, cone_radius, cone_height, 16))
-- cylinder
cylinder_radius = 0.5
cylinder_height = 1
cylinder_ref = res:AddModel('cylinder', hg.CreateCylinderModel(vtx_layout, cylinder_radius, cylinder_height, 16))
-- ground
ground_size = hg.Vec3(15, 0.05, 15)
ground_ref = res:AddModel('ground', hg.CreateCubeModel(vtx_layout, ground_size.x, ground_size.y, ground_size.z))
-- setup the scene
scene = hg.Scene()
cam_mat = hg.TransformationMat4(hg.Vec3(-2, 6, -8.5), hg.Vec3(hg.Deg(25), 0, 0))
cam = hg.CreateCamera(scene, cam_mat, 0.01, 1000, hg.Deg(30))
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, 0.00025, hg.Vec4(2, 4, 10, 16))
sphere_node = hg.CreatePhysicSphere(scene, sphere_radius, hg.TranslationMat4(hg.Vec3(2, 1, 2.5)), sphere_ref, {mat_grey}, 0)
cube_node = hg.CreatePhysicCube(scene, cube_size, hg.TranslationMat4(hg.Vec3(0, 1, 2.5)), cube_ref, {mat_grey}, 0)
capsule_node, capsule_rb = CreatePhysicCapsuleEx(scene, capsule_radius, capsule_height, hg.TranslationMat4(hg.Vec3(-2, 1, 2.5)), capsule_ref, {mat_grey}, hg.RBT_Dynamic, 0)
cone_node, cone_rb = CreatePhysicConeEx(scene, cone_radius, cone_height, hg.TranslationMat4(hg.Vec3(-4, 1, 2.5)), cone_ref, {mat_grey}, hg.RBT_Dynamic, 0)
cylinder_node, cylinder_rb = CreatePhysicCylinderEx(scene, cylinder_radius, cylinder_height, hg.TranslationMat4(hg.Vec3(-6, 1, 2.5)), cylinder_ref, {mat_grey}, hg.RBT_Dynamic, 0)
-- 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>>> Shoot N raycast toward a collection of Node + Rigid bodies + Collision shapes of various types.\n>>> Red if the raycast hit nothing.\n>>> Green if the raycast hit a node.")
-- main loop
keyboard = hg.Keyboard()
mouse = hg.Mouse()
vtx = hg.Vertices(vtx_line_layout, 2)
vid_scene_opaque = 0
while not keyboard:Down(hg.K_Escape) and hg.IsWindowOpen(win) do
keyboard:Update()
mouse:Update()
for i = 1, 60 do
start_pos = hg.Vec3(-8 + 0.2 * i, 0.75, -5)
end_pos = hg.Vec3(-8 + 0.2 * i, 0.75, 10)
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
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)
hg.SetViewTransform(view_id, hg.InverseFast(cam:GetTransform():GetWorld()), hg.ComputePerspectiveProjectionMatrix(c:GetZNear(), c:GetZFar(), hg.FovToZoomFactor(c:GetFov()), hg.Vec2(res_x / res_y, 1)))
rs = hg.ComputeRenderState(hg.BM_Opaque, hg.DT_Disabled, hg.FC_Disabled)
physics:RenderCollision(view_id, vtx_line_layout, line_shader, rs, 0)
hg.Frame()
hg.UpdateWindow(win)
end
scene:Clear()
scene:GarbageCollect()
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()