From d143660a1fae63c6b3e1e13db06e85bfa5c68e2e Mon Sep 17 00:00:00 2001
From: bloeys <bloeys@outlook.com>
Date: Wed, 16 Feb 2022 08:17:49 +0400
Subject: [PATCH] Start raycast implementation

---
 main.go                |  11 +++++++++++
 pgo/libs/libphysx-c.a  | Bin 22500 -> 22706 bytes
 pgo/pgo.go             |  24 ++++++++++++++++++++++++
 pgo/physx-c/CPxScene.h |  29 +++++++++++++++++++++++++++++
 pgo/wrap.c             |   1 +
 5 files changed, 65 insertions(+)

diff --git a/main.go b/main.go
index a700f07..8abf937 100755
--- a/main.go
+++ b/main.go
@@ -1,6 +1,10 @@
 package main
 
 import (
+	"bufio"
+	"fmt"
+	"os"
+
 	"github.com/bloeys/physx-go/pgo"
 )
 
@@ -111,12 +115,19 @@ func main() {
 	println("Capsule linear damping B:", dynCapsule.GetLinearDamping())
 
 	//Run simulation
+	r := bufio.NewReader(os.Stdin)
 	s.SetScratchBuffer(4)
 	for {
 		s.Collide(1 / 60.0)
 		s.FetchCollision(true)
 		s.Advance()
 		s.FetchResults(true)
+
+		rHit, _ := s.Raycast(pgo.NewVec3(0, 0, 0), pgo.NewVec3(0, 1, 0), 9)
+		fmt.Printf("\nRaycast hit: %v\n", rHit)
+
+		// println("Press enter...")
+		// r.ReadBytes('\n')
 	}
 
 	p.Release()
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index 7da1bf374f29fb2fff5058315fc1dc09532be9d4..829fc0038b462556a2ddfdd9db3b1ec0c0c2955f 100755
GIT binary patch
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diff --git a/pgo/pgo.go b/pgo/pgo.go
index 6cb77c2..cd76da6 100755
--- a/pgo/pgo.go
+++ b/pgo/pgo.go
@@ -126,6 +126,30 @@ func (s *Scene) SetScratchBuffer(multiplesOf16k uint32) {
 	C.CPxScene_setScratchBuffer(s.cS, C.uint(multiplesOf16k))
 }
 
+//bool CPxScene_raycast(CSTRUCT CPxScene* cs, CPxVec3* origin, CPxVec3* unitDir, CPxReal distance, CPxRaycastBuffer* hit)
+func (s *Scene) Raycast(origin, unitDir *Vec3, distance float32) (bool, RaycastBuffer) {
+
+	rb := RaycastBuffer{}
+	ret := C.CPxScene_raycast(s.cS, &origin.cV, &unitDir.cV, C.float(distance), &rb.cRb)
+	return bool(ret), rb
+}
+
+type RaycastHit struct {
+	cRh *C.struct_CPxRaycastHit
+}
+
+type RaycastBuffer struct {
+	cRb *C.struct_CPxRaycastBuffer
+}
+
+func (rb *RaycastBuffer) HasBlock() bool {
+	return bool(rb.cRb.hasBlock)
+}
+
+func (rb *RaycastBuffer) GetBlock() RaycastHit {
+	return RaycastHit{}
+}
+
 type Physics struct {
 	cPhysics *C.struct_CPxPhysics
 }
diff --git a/pgo/physx-c/CPxScene.h b/pgo/physx-c/CPxScene.h
index 22d052c..376019b 100755
--- a/pgo/physx-c/CPxScene.h
+++ b/pgo/physx-c/CPxScene.h
@@ -3,11 +3,39 @@
 
 #include "CPxPvdSceneClient.h"
 #include "CPxActor.h"
+#include "CPxVec3.h"
+#include "CPxShape.h"
+#include "CPxRigidActor.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+	struct CPxRaycastHit
+	{
+		//CPxHitFlags			flags;		//!< Hit flags specifying which members contain valid values.
+		struct CPxVec3				position;	//!< World-space hit position (flag: #PxHitFlag::ePOSITION)
+		struct CPxVec3				normal;		//!< World-space hit normal (flag: #PxHitFlag::eNORMAL)
+
+		/**
+		\brief	Distance to hit.
+		\note	If the eMTD flag is used, distance will be a negative value if shapes are overlapping indicating the penetration depth.
+		\note	Otherwise, this value will be >= 0 */
+		CPxF32 distance;
+		CPxReal u, v;
+		CPxU32	faceIndex;
+		struct CPxShape shape;
+		struct CPxRigidActor actor;
+	};
+
+	struct CPxRaycastBuffer
+	{
+		struct CPxRaycastHit block;
+		struct CPxRaycastHit* touches;
+		CPxU32 nbTouches;
+		bool hasBlock;
+	};
+
 	struct CPxScene
 	{
 		void* obj;
@@ -22,6 +50,7 @@ extern "C" {
 	CPxAPI bool CPxScene_fetchCollision(CSTRUCT CPxScene*, bool block);
 	CPxAPI void CPxScene_advance(CSTRUCT CPxScene*);
 	CPxAPI bool CPxScene_fetchResults(CSTRUCT CPxScene*, bool block, CPxU32* errorState);
+	CPxAPI bool CPxScene_raycast(CSTRUCT CPxScene* cs, CSTRUCT CPxVec3* origin, CSTRUCT CPxVec3* unitDir, CPxReal distance, CSTRUCT CPxRaycastBuffer** hitRet);
 
 	/// <summary>
 	/// Creates a scratch buffer thats a multiple of 16K to be used by the scene when running CPxScene_simulate.
diff --git a/pgo/wrap.c b/pgo/wrap.c
index 6491834..9a37122 100755
--- a/pgo/wrap.c
+++ b/pgo/wrap.c
@@ -7,6 +7,7 @@
 #define CENUM enum
 #define CPxU32 uint32_t
 #define CPxReal float
+#define CPxF32 float
 
 #include <CPxFoundation.h>
 #include <CPxPvd.h>