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rb_mesh_collider_raycast.py
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import harfang as hg
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)
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
frame_count = 0
while not keyboard.Down(hg.K_Escape) and hg.IsWindowOpen(win):
keyboard.Update()
mouse.Update()
dt = hg.TickClock()
if keyboard.Down(hg.K_LShift):
s = 20
else:
s = 8
cam.GetTransform().SetPos(cam_pos)
cam.GetTransform().SetRot(cam_rot)
for i in range(-20, 21, 2):
for o in range(-20, 21, 2):
start_pos = hg.Vec3(i * 0.05, 0.1, o * 0.05)
end_pos = hg.Vec3(i * 0.05, -0.1, o * 0.05)
raycast_out = physics.RaycastFirstHit(scene, start_pos, end_pos)
vtx.Clear()
if raycast_out.node.IsValid():
vtx.Begin(0).SetPos(start_pos).SetColor0(hg.Color.Yellow).End()
vtx.Begin(1).SetPos(raycast_out.P).SetColor0(hg.Color.Yellow).End()
else:
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)
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)
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)
scene.Clear()
scene.GarbageCollect()
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()