Fixed raycast sphere.

src/dawn/display/Transform.cpp

@@ -131,7 +131,7 @@ void Transform::setLocalTransform(glm::mat4 transform) {
 }
 
 glm::vec3 Transform::getWorldPosition() {
-  return glm::inverse(this->transformWorld)[3];
+  return this->transformWorld[3];
 }
 
 glm::mat4 Transform::getWorldTransform() {

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

@@ -14,20 +14,23 @@ bool_t Dawn::raytestSphere(
   glm::vec3 *normal,
   float_t *distance
 ) {
-  assertNotNull(hit);
-  assertNotNull(normal);
+  float_t a = glm::dot(ray.direction, ray.direction);
+  float_t b = 2.0f * glm::dot(ray.direction, ray.origin - sphere.center);
+  float_t c = glm::dot(ray.origin - sphere.center, ray.origin - sphere.center);
+  c -= sphere.radius * sphere.radius;
 
-  glm::vec3 h, n;
-  auto result = glm::intersectRaySphere(
-    ray.origin, ray.direction,
-    sphere.center, sphere.radius,
-    h, n
-  );
-  if(!result) return result;
-  *hit = h;
-  *normal = n;
-  *distance = glm::distance(ray.origin, h);
-  return result;
+  float_t dt = b * b - 4.0f * a * c;
+  if(dt < 0.0f) return false;
+
+  float_t t0 = (-b - sqrtf(dt)) / (a * 2.0f);
+  if(t0 < 0.0f) return false;
+
+  *hit = ray.origin + t0 * ray.direction;
+  *normal = glm::normalize(*hit - sphere.center);
+  *distance = t0;
+
+
+  return true;
 }
 
 bool_t Dawn::raytestTriangle(

src/dawn/scene/components/physics/3d/CMakeLists.txt

@@ -9,4 +9,5 @@ target_sources(${DAWN_TARGET_NAME}
     Collider3D.cpp
     CubeCollider.cpp
     CapsuleCollider.cpp
+    SphereCollider.cpp
 )

src/dawn/scene/components/physics/3d/Collider3D.hpp

@@ -17,7 +17,8 @@ namespace Dawn {
 
   enum Collider3DType {
     COLLIDER3D_TYPE_CUBE,
-    COLLIDER3D_TYPE_CAPSULE
+    COLLIDER3D_TYPE_CAPSULE,
+    COLLIDER3D_TYPE_SPHERE
   };
 
   class Collider3D : public SceneItemComponent {

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

@@ -0,0 +1,31 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "SphereCollider.hpp"
+
+using namespace Dawn;
+
+SphereCollider::SphereCollider(SceneItem *item) : Collider3D(item) {
+
+}
+
+enum Collider3DType SphereCollider::getColliderType() {
+  return COLLIDER3D_TYPE_SPHERE;
+}
+
+bool_t SphereCollider::performRaycast(
+  struct Collider3DRayResult *result,
+  struct Ray3D ray
+) {
+  assertNotNull(result);
+
+  return raytestSphere(
+    ray,
+    { .center = transform->getLocalPosition(), .radius = this->radius },
+    &result->point,
+    &result->normal,
+    &result->distance
+  );
+}

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

@@ -0,0 +1,24 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "Collider3D.hpp"
+
+namespace Dawn {
+  class SphereCollider : public Collider3D {
+    protected:
+      bool_t performRaycast(
+        struct Collider3DRayResult *result,
+        struct Ray3D ray
+      ) override;
+
+    public:
+      float_t radius = 1.0f;
+      
+      SphereCollider(SceneItem *item);
+
+      enum Collider3DType getColliderType() override;
+  };
+}

src/dawn/scene/debug/SceneDebugLine.cpp

@@ -31,7 +31,7 @@ struct ShaderPassItem SceneDebugLine::createShaderItem(
   auto i = *lineIndex;
   item.mesh = mesh;
   item.drawMode = MESH_DRAW_MODE_LINES;
-  item.renderFlags = 0x00;
+  item.renderFlags = RENDER_MANAGER_RENDER_FLAG_DEPTH_TEST;
   item.start = i * SCENE_DEBUG_LINE_INDICE_COUNT;
   item.count = SCENE_DEBUG_LINE_INDICE_COUNT;
 

src/dawnrose/scene/components/PlayerController.cpp

@@ -39,12 +39,13 @@ void PlayerController::onStart() {
 
 
     // tEST
-    auto collider = item->getComponent<CapsuleCollider>();
+    auto collider = item->getComponent<Collider3D>();
+    assertNotNull(collider);
     Collider3DRayResult result;
 
     struct Ray3D ray;
-    ray.origin = glm::vec3(0, 0.5f, 1);
-    ray.direction = glm::vec3(10, 0, 0);
+    ray.origin = glm::vec3(0, 0.0f, 5);
+    ray.direction = glm::vec3(0, 0.0f, -4);
 
     struct Color color = COLOR_MAGENTA;
 
@@ -54,7 +55,7 @@ void PlayerController::onStart() {
 
       getScene()->debugRay({
         .start = result.point,
-        .direction = (result.normal * 100.0f),
+        .direction = result.normal,
         .color = COLOR_GREEN
       });
     }

src/dawnrose/scenes/HelloWorldScene.hpp

@@ -7,14 +7,14 @@
 #include "scene/Scene.hpp"
 #include "scene/components/PlayerController.hpp"
 #include "scene/components/GameCamera.hpp"
-#include "scene/components/physics/3d/CubeCollider.hpp"
-#include "scene/components/physics/3d/CapsuleCollider.hpp"
 #include "scene/components/GameCamera.hpp"
 #include "scene/components/display/MeshRenderer.hpp"
 #include "scene/components/display/MeshHost.hpp"
 #include "scene/components/display/material/SimpleTexturedMaterial.hpp"
-#include "display/mesh/CapsuleMesh.hpp"
 #include "scene/components/example/ExampleSpin.hpp"
+#include "scene/components/physics/3d/SphereCollider.hpp"
+#include "scene/components/physics/3d/CubeCollider.hpp"
+#include "display/mesh/SphereMesh.hpp"
 
 namespace Dawn {
   class HelloWorldScene : public Scene {
@@ -25,12 +25,11 @@ namespace Dawn {
 
         auto playerItem = this->createSceneItem();
         auto player = playerItem->addComponent<PlayerController>();
-        auto hitbox = playerItem->addComponent<CapsuleCollider>();
         playerItem->addComponent<MeshRenderer>();
         auto meshHost = playerItem->addComponent<MeshHost>();
         playerItem->addComponent<SimpleTexturedMaterial>();
-
-        CapsuleMesh::create(&meshHost->mesh, hitbox->radius, hitbox->height);
+        auto hitbox = playerItem->addComponent<SphereCollider>();
+        SphereMesh::createSphere(&meshHost->mesh, hitbox->radius, 32, 32);
 
         auto wall = this->createSceneItem();
         auto wallHitbox = wall->addComponent<CubeCollider>();