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Copy pathrb_mesh_collider_raycast_mesh_terrain_rotating.py
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rb_mesh_collider_raycast_mesh_terrain_rotating.py
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import harfang as hg
import math
hg.AddAssetsFolder("assets_compiled")
# Initialisation des systèmes
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()
# Débogage physique
vtx_line_layout = hg.VertexLayoutPosFloatColorUInt8()
line_shader = hg.LoadProgramFromAssets("shaders/pos_rgb")
# Création de la scène
scene = hg.Scene()
hg.LoadSceneFromAssets("island_chain/island_chain.scn", scene, res, hg.GetForwardPipelineInfo())
cam_mat = hg.TransformationMat4(hg.Vec3(10, 2, -2) * 2000.0, hg.Vec3(hg.Deg(25), hg.Deg(-65), 0))
cam = hg.CreateCamera(scene, cam_mat, 10.0, 40000)
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)
# Physique de la scène
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()
hg.SetLogLevel(hg.LL_Normal)
print(">>> Description:\n>>> Création d'un collider mesh avec un terrain collider à partir de son fichier .physics_bullet et test des collisions avec des raycasts.\n>>> Le modèle 3D 'Island chain' (65k triangles, 30x12Km) est une courtoisie de World Machine.")
island_node = scene.GetNode("island_chain")
mesh_col = scene.CreateCollision()
mesh_col.SetType(hg.CT_Mesh)
mesh_col.SetCollisionResource("island_chain/island_chain.physics_bullet")
mesh_col.SetMass(0)
island_node.SetCollision(0, mesh_col)
# Création du rigid body
rb = scene.CreateRigidBody()
rb.SetType(hg.RBT_Kinematic)
island_node.SetRigidBody(rb)
physics.NodeCreatePhysicsFromAssets(island_node)
# Boucle principale
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()
island_node.GetTransform().SetRot(hg.Vec3(0.0, math.pi * frame_count / 360.0, 0.0))
s = 2000 if keyboard.Down(hg.K_LShift) else 200
hg.FpsController(keyboard, mouse, cam_pos, cam_rot, s, dt)
cam.GetTransform().SetPos(cam_pos)
cam.GetTransform().SetRot(cam_rot)
xz_spread = 300.0
for i in range(-60, 61):
for o in range(-15, 16):
start_pos = hg.Vec3(i * xz_spread, 1000.0, o * xz_spread)
end_pos = hg.Vec3(i * xz_spread, -100.0, o * xz_spread)
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 + end_pos) * 0.5).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)
frame_count += 1
hg.Frame()
hg.UpdateWindow(win)
scene.Clear()
scene.GarbageCollect()
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()