Added basic triangle raycasting.

src/dawn/physics/3d/Ray3D.cpp

@@ -23,6 +23,9 @@ bool_t Dawn::raytestSphere(
   glm::vec3 *hit,
   glm::vec3 *normal
 ) {
+  assertNotNull(hit);
+  assertNotNull(normal);
+
   glm::vec3 h, n;
   auto result = glm::intersectRaySphere(
     ray.origin, ray.direction,
@@ -30,8 +33,8 @@ bool_t Dawn::raytestSphere(
     h, n
   );
 
-  if(hit != nullptr) *hit = h;
-  if(normal != nullptr) *normal = n;
+  *hit = h;
+  *normal = n;
 
   return result;
 }
@@ -39,19 +42,54 @@ bool_t Dawn::raytestSphere(
 bool_t Dawn::raytestTriangle(
   struct Ray3D ray,
   struct PhysicsTriangle triangle,
-  glm::vec2 *hit,
-  float_t *distance
+  glm::vec3 *hitPoint,
+  glm::vec3 *hitNormal,
+  float_t *hitDistance
 ) {
-  glm::vec2 h;
-  float_t d;
-  auto result = glm::intersectRayTriangle(
-    ray.origin, ray.direction,
-    triangle.v0, triangle.v1, triangle.v2,
-    h, d
-  );
-  if(hit != nullptr) *hit = h;
-  if(distance != nullptr) *distance = d;
-  return result;
+  assertNotNull(hitPoint);
+  assertNotNull(hitNormal);
+  assertNotNull(hitDistance);
+
+  // Calculate the normal of the triangle
+  glm::vec3 e0 = triangle.v1 - triangle.v0;
+  glm::vec3 e1 = triangle.v2 - triangle.v0;
+  glm::vec3 normal = glm::normalize(glm::cross(e0, e1));
+
+  // Calculate the denominator of the ray-triangle intersection formula
+  float_t denominator = glm::dot(normal, ray.direction);
+
+  // If the denominator is zero, the ray and triangle are parallel and there is no intersection
+  if(denominator == 0) return -1;
+
+  // Calculate the distance from the ray origin to the plane of the triangle
+  float_t d = glm::dot(triangle.v0 - ray.origin, normal) / denominator;
+
+  // If the distance is negative, the intersection point is behind the ray origin and there is no intersection
+  if(d < 0) return -1;
+
+  // Calculate the intersection point
+  glm::vec3 intersectionPoint = ray.origin + d * ray.direction;
+
+  // Check if the intersection point is inside the triangle
+  glm::vec3 edge0 = triangle.v1 - triangle.v0;
+  glm::vec3 edge1 = triangle.v2 - triangle.v1;
+  glm::vec3 edge2 = triangle.v0 - triangle.v2;
+  glm::vec3 c0 = intersectionPoint - triangle.v0;
+  glm::vec3 c1 = intersectionPoint - triangle.v1;
+  glm::vec3 c2 = intersectionPoint - triangle.v2;
+  glm::vec3 n0 = glm::cross(edge0, c0);
+  glm::vec3 n1 = glm::cross(edge1, c1);
+  glm::vec3 n2 = glm::cross(edge2, c2);
+  if (glm::dot(n0, normal) >= 0 && glm::dot(n1, normal) >= 0 && glm::dot(n2, normal) >= 0) {
+    // If the intersection point is inside the triangle, set the hit point, normal and distance
+    *hitPoint = intersectionPoint;
+    *hitNormal = normal;
+    *hitDistance = d;
+    return true;
+  }
+
+  // If the intersection point is outside the triangle, there is no intersection
+  return false;
 }
 
 bool_t Dawn::raytestAABB(

src/dawn/physics/3d/Ray3D.hpp

@@ -26,8 +26,9 @@ namespace Dawn {
   bool_t raytestTriangle(
     struct Ray3D ray,
     struct PhysicsTriangle triangle,
-    glm::vec2 *hit,
-    float_t *distance
+    glm::vec3 *hitPoint,
+    glm::vec3 *hitNormal,
+    float_t *hitDistance
   );
 
   bool_t raytestAABB(

src/dawn/scene/components/physics/3d/RayTester3D.cpp

@@ -18,8 +18,10 @@ void RayTester3D::onStart() {
 
 void RayTester3D::onUpdate() {
   prefab->transform.setLocalPosition(glm::vec3(0, 0, 0));
-  box.max = glm::vec3( 0.5f,  0.5f,  0.5f);
-  box.min = glm::vec3(-0.5f, -0.5f, -0.5f);
+  
+  triangle.v0 = glm::vec3(-0.5f, -0.5f, 0);
+  triangle.v1 = glm::vec3(0.5f, -0.5f, 0);
+  triangle.v2 = glm::vec3(0, 0.5f, 0);
 
   auto mouse = this->getGame()->inputManager.getAxis2D(INPUT_BIND_MOUSE_X, INPUT_BIND_MOUSE_Y);
   mouse *= 2.0f;
@@ -32,7 +34,7 @@ void RayTester3D::onUpdate() {
   // prefab->transform.setLocalPosition(pos);
   // ray.origin = glm::vec3(0, 0, 5);
 
-  bool_t x = raytestAABB(ray, box, &hit, &normal, &distance);
+  bool_t x = raytestTriangle(ray, triangle, &hit, &normal, &distance);
 
   if(x) {
     prefab->material->color = COLOR_RED;

src/dawn/scene/components/physics/3d/RayTester3D.hpp

@@ -14,7 +14,7 @@ namespace Dawn {
     public:
       SimpleSpinningCubePrefab *prefab;
       Camera *camera;
-      struct AABB3D box;
+      struct PhysicsTriangle triangle;
       struct Ray3D ray;
       glm::vec3 hit;
       glm::vec3 normal;

src/dawn/scene/components/physics/3d/collider/CubeCollider.cpp

@@ -9,8 +9,4 @@ using namespace Dawn;
 
 CubeCollider::CubeCollider(SceneItem *item) : Collider3D(item) {
   
-}
-
-bool_t CubeCollider::raycast(struct Ray3D ray, struct Collider3DRayResult *out){
-  return false;
 }

src/dawn/scene/components/physics/3d/collider/CubeCollider.hpp

@@ -5,6 +5,7 @@
 
 #pragma once
 #include "Collider3D.hpp"
+#include "physics/3d/Ray3D.hpp"
 
 namespace Dawn {
   class CubeCollider : public Collider3D {
@@ -13,7 +14,5 @@ namespace Dawn {
       glm::vec3 size = glm::vec3(1, 1, 1);
 
       CubeCollider(SceneItem *item);
-      
-      bool_t raycast(struct Ray3D ray, struct Collider3DRayResult *out)override;
   };
 }

src/dawntictactoe/scenes/TicTacToeScene.hpp

@@ -7,7 +7,7 @@
 #include "scene/Scene.hpp"
 #include "prefabs/SimpleSpinningCubePrefab.hpp"
 #include "prefabs/TicTacToeTilePrefab.hpp"
-#include "display/mesh/SphereMesh.hpp"
+#include "display/mesh/TriangleMesh.hpp"
 
 #include "scene/components/physics/3d/RayTester3D.hpp"
 
@@ -31,6 +31,7 @@ namespace Dawn {
         camera->orthoRight = s * ratio;
 
         auto cube = SimpleSpinningCubePrefab::create(this);
+        TriangleMesh::createTriangleMesh(&cube->meshHost->mesh);
         // SphereMesh::createSphere(&cube->meshHost->mesh, 1.0f, 16, 16);
         auto tester = cube->addComponent<RayTester3D>();
         tester->prefab = cube;