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Add shapecasts + raycasts #5440

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metalgearsloth
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Actual raycasts. Need this for AI LIDAR experiment.

@eoineoineoin
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Coincidentally, I started to take a look at the raycast end of this recently (https://github.com/eoineoineoin/RobustToolbox/commits/eoin/2024.09.xx.raycasts/) - I took a slightly different approach of putting a castray() function on the shapes interface which is a bit clearer IMO (though, that strategy doesn't work for shapecasts).

If you want to run with this, that's fine, I'll leave it - I still had to finish some functions, had a bunch of todos, polish, and tests to do, but I did notice a few issues with the SharedPhysicsSystem.Queries.cs which would also be good to include.

@metalgearsloth
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I'm porting the new C code from box2d.

@Tornado-Technology
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Holy shit, it's pretty cool!

@Djungelskog2
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I dont know what this means in reality but does this mean we might actually get stuff related to not being able to interact/see stuff in the dark? (not invalidating the darkness via a right click)

@metalgearsloth metalgearsloth marked this pull request as ready for review September 25, 2024 02:45
@metalgearsloth
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So atm I wouldn't use shapecasts for a character controller til erin does his sample but the raycasts work fine as is.

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4 participants