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space-wizards · Sep 24, 2024 · d1a33f8 · d1a33f8
1 parent 51eb9d0
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Showing 4 changed files with 31 additions and 25 deletions.
diff --git a/Robust.Shared/Physics/Collision/Shapes/PolygonShape.cs b/Robust.Shared/Physics/Collision/Shapes/PolygonShape.cs
@@ -27,6 +27,7 @@
 using Robust.Shared.Configuration;
 using Robust.Shared.IoC;
 using Robust.Shared.Maths;
+using Robust.Shared.Physics.Shapes;
 using Robust.Shared.Physics.Systems;
 using Robust.Shared.Serialization;
 using Robust.Shared.Serialization.Manager.Attributes;
@@ -172,6 +173,13 @@ public PolygonShape()
         {
         }
 
+        internal PolygonShape(Polygon poly)
+        {
+            Vertices = poly.Vertices;
+            Normals = poly.Normals;
+            Centroid = poly.Centroid;
+        }
+
         public PolygonShape(float radius)
         {
             Radius = radius;

diff --git a/Robust.Shared/Physics/Systems/RayCastSystem.Geometry.cs b/Robust.Shared/Physics/Systems/RayCastSystem.Geometry.cs
@@ -22,12 +22,9 @@ public sealed partial class RayCastSystem
     /// </summary>
     private static float RayCastAllCallback(FixtureProxy proxy, Vector2 point, Vector2 normal, float fraction, ref RayResult result)
     {
-        result.Results.Add(new RayHit()
+        result.Results.Add(new RayHit(proxy.Entity, normal, fraction)
         {
-            Fraction = fraction,
-            Normal = normal,
             Point = point,
-            Proxy = proxy,
         });
         return 1f;
     }
@@ -54,12 +51,9 @@ private static float RayCastClosestCallback(FixtureProxy proxy, Vector2 point, V
 
         if (add)
         {
-            result.Results.Add(new RayHit()
+            result.Results.Add(new RayHit(proxy.Entity, normal, fraction)
             {
-                Fraction = fraction,
-                Normal = normal,
                 Point = point,
-                Proxy = proxy,
             });
         }
 
@@ -646,16 +640,6 @@ private CastOutput ShapeCastSegment(ShapeCastInput input, EdgeShape shape)
     }
 
     #endregion
-
-    private ref struct RayCastQueryState
-    {
-        public RayCastSystem System;
-        public SharedPhysicsSystem Physics;
-
-        public uint CollisionMask;
-        public Vector2 Origin;
-        public Vector2 Translation;
-    }
 }
 
 internal ref struct WorldRayCastContext

diff --git a/Robust.Shared/Physics/Systems/RayCastSystem.cs b/Robust.Shared/Physics/Systems/RayCastSystem.cs
@@ -269,8 +269,11 @@ public void CastShape(
             case PhysShapeCircle circle:
                 CastCircle(entity, ref result, circle, originTransform, translation, filter);
                 break;
+            case Polygon poly:
+                CastPolygon(entity, ref result, new PolygonShape(poly), originTransform, translation, filter);
+                break;
             case PolygonShape polygon:
-                CastPolygon(entity, ref result,polygon, originTransform, translation, filter);
+                CastPolygon(entity, ref result, polygon, originTransform, translation, filter);
                 break;
             default:
                 Log.Error("Tried to shapecast for shape not implemented.");
@@ -371,12 +374,15 @@ public record struct RayResult()
     public bool Hit => Results.Count > 0;
 }
 
-public record struct RayHit()
+public record struct RayHit(EntityUid Entity, Vector2 LocalNormal, float Fraction)
 {
-    public FixtureProxy Proxy;
+    public readonly EntityUid Entity = Entity;
+    public readonly Vector2 LocalNormal = LocalNormal;
+    public readonly float Fraction = Fraction;
+
+    // When this point gets added it's in broadphase terms, then the caller handles whether it gets turned into map-terms.
+
     public Vector2 Point;
-    public Vector2 Normal;
-    public float Fraction;
 }
 
 /// The query filter is used to filter collisions between queries and shapes. For example,

diff --git a/Robust.UnitTesting/Shared/Physics/RayCast_Test.cs b/Robust.UnitTesting/Shared/Physics/RayCast_Test.cs
@@ -25,20 +25,28 @@ public sealed class RayCast_Test
         // Ray stops inside
         new(new Vector2(0f, 0.5f), Vector2.UnitY, new Vector2(0f, 1f - PhysicsConstants.PolygonRadius)),
 
+        // Ray starts inside
+        new(new Vector2(0f, 1.5f), Vector2.UnitY, null),
+
         // No hit
         new(new Vector2(0f, 0.5f), -Vector2.UnitY, null),
     };
 
     private static TestCaseData[] _shapeCases =
     {
         // Circle
-        // - Initial overlap
-        new(new PhysShapeCircle(0.5f, Vector2.Zero), new Transform(Vector2.UnitY / 2f, Angle.Zero), Vector2.UnitY, new Vector2(0f, 0.5f)),
+        // - Initial overlap, no shapecast
+        new(new PhysShapeCircle(0.5f, Vector2.Zero), new Transform(Vector2.UnitY / 2f, Angle.Zero), Vector2.UnitY, null),
 
         // - Cast
         new(new PhysShapeCircle(0.5f, Vector2.Zero), new Transform(Vector2.Zero, Angle.Zero), Vector2.UnitY, new Vector2(0f, 1f - PhysicsConstants.PolygonRadius)),
 
         // Polygon
+        // - Initial overlap, no shapecast
+        new(new Polygon(Box2.UnitCentered), new Transform(Vector2.UnitY / 2f, Angle.Zero), Vector2.UnitY, null),
+
+        // - Cast
+        new(new Polygon(Box2.UnitCentered), new Transform(Vector2.Zero, Angle.Zero), Vector2.UnitY, new Vector2(0.5f, 1f - PhysicsConstants.PolygonRadius)),
     };
 
     [Test, TestCaseSource(nameof(_rayCases))]