StrafesNET/strafe-project
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Quaternions 2025-02-18 13:53:56 -08:00
parent 2c07673b7d
commit 510aef07a8
1 changed files with 17 additions and 2 deletions

19
engine/physics/src/physics.rs

@ -1,4 +1,5 @@
use std::collections::{HashMap,HashSet}; use std::collections::{HashMap,HashSet};
use crate::model::DirectedEdge;
use crate::model::{self as model_physics,PhysicsMesh,PhysicsMeshTransform,TransformedMesh,MeshQuery,PhysicsMeshId,PhysicsSubmeshId}; use crate::model::{self as model_physics,PhysicsMesh,PhysicsMeshTransform,TransformedMesh,MeshQuery,PhysicsMeshId,PhysicsSubmeshId};
use strafesnet_common::bvh; use strafesnet_common::bvh;
use strafesnet_common::map; use strafesnet_common::map;
@ -983,8 +984,22 @@ impl PhysicsData{
pub fn trace_ray(&self,ray:strafesnet_common::bvh::Ray)->Option<ModelId>{ pub fn trace_ray(&self,ray:strafesnet_common::bvh::Ray)->Option<ModelId>{
let (time,convex_mesh_id)=self.bvh.sample_ray(&ray,Time::ZERO,Time::MAX,|&model,ray|{ let (time,convex_mesh_id)=self.bvh.sample_ray(&ray,Time::ZERO,Time::MAX,|&model,ray|{
let mesh=self.models.mesh(model); let mesh=self.models.mesh(model);
// TODO: ray tracing lol // brute force trace every face
None mesh.faces().filter_map(|face_id|{
let (n,d)=mesh.face_nd(face_id);
// trace ray onto face
// n.(o+d*t)==n.p
// n.o + n.d * t == n.p
// t == (n.p - n.o)/n.d
let t=(d-n.dot(ray.origin))/n.dot(ray.direction);
// check if point of intersection is behind face edges
let p=ray.extrapolate(t);
mesh.face_edges(face_id).iter().all(|&directed_edge_id|{
let edge_n=mesh.directed_edge_n(directed_edge_id);
let &[vert0,vert1]=mesh.edge_verts(directed_edge_id.as_undirected()).as_ref();
(n.cross(edge_n)*2).dot(p.num)/p.den<mesh.vert(vert0)+mesh.vert(vert1)
}).then(||t.into())
}).min()
})?; })?;
Some(convex_mesh_id.model_id.into()) Some(convex_mesh_id.model_id.into())
} }