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Onek8
2025-05-20 20:00:31 +00:00
parent 9bf83bc49f 9d7613be8f
commit 316441b954
33 changed files with 1291 additions and 1086 deletions
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8
leenkx/Sources/leenkx/logicnode/AddPhysicsConstraintNode.hx
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@ -2,9 +2,11 @@ package leenkx.logicnode;
import iron.object.Object;
#if lnx_physics
#if lnx_bullet
import leenkx.trait.physics.PhysicsConstraint;
import leenkx.trait.physics.bullet.PhysicsConstraint.ConstraintType;
#elseif lnx_oimo
// TODO
#end
class AddPhysicsConstraintNode extends LogicNode {
@ -25,7 +27,7 @@ class AddPhysicsConstraintNode extends LogicNode {
if (pivotObject == null || rb1 == null || rb2 == null) return;
#if lnx_physics
#if lnx_bullet
var disableCollisions: Bool = inputs[4].get();
var breakable: Bool = inputs[5].get();
@ -108,6 +110,8 @@ class AddPhysicsConstraintNode extends LogicNode {
}
pivotObject.addTrait(con);
}
#elseif lnx_oimo
// TODO
#end
runOutput(0);
}

2
leenkx/Sources/leenkx/logicnode/AddRigidBodyNode.hx
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@ -4,7 +4,7 @@ import iron.object.Object;
#if lnx_physics
import leenkx.trait.physics.RigidBody;
import leenkx.trait.physics.bullet.RigidBody.Shape;
import leenkx.trait.physics.RigidBody.Shape;
#end

26
leenkx/Sources/leenkx/logicnode/ArrayIndexListNode.hx Normal file
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@ -0,0 +1,26 @@
package leenkx.logicnode;
class ArrayIndexListNode extends LogicNode {
public function new(tree: LogicTree) {
super(tree);
}
override function get(from: Int): Dynamic {
var array: Array<Dynamic> = inputs[0].get();
array = array.map(item -> Std.string(item));
var value: Dynamic = inputs[1].get();
var from: Int = 0;
var arrayList: Array<Int> = [];
var index: Int = array.indexOf(Std.string(value), from);
while(index != -1){
arrayList.push(index);
index = array.indexOf(Std.string(value), index+1);
}
return arrayList;
}
}

2
leenkx/Sources/leenkx/logicnode/GoToLocationNode.hx
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@ -1,7 +1,7 @@
package leenkx.logicnode;
#if lnx_physics
import leenkx.trait.physics.bullet.PhysicsWorld;
import leenkx.trait.physics.PhysicsWorld;
#end
import leenkx.trait.navigation.Navigation;
import iron.object.Object;

2
leenkx/Sources/leenkx/logicnode/PhysicsConstraintNode.hx
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@ -1,7 +1,7 @@
package leenkx.logicnode;
#if lnx_physics
import leenkx.trait.physics.bullet.PhysicsConstraint.ConstraintAxis;
import leenkx.trait.physics.PhysicsConstraint.ConstraintAxis;
#end
class PhysicsConstraintNode extends LogicNode {

4
leenkx/Sources/leenkx/trait/physics/KinematicCharacterController.hx
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@ -10,6 +10,10 @@ class KinematicCharacterController extends iron.Trait { public function new() {
typedef KinematicCharacterController = leenkx.trait.physics.bullet.KinematicCharacterController;
#else
typedef KinematicCharacterController = leenkx.trait.physics.oimo.KinematicCharacterController;
#end
#end

7
leenkx/Sources/leenkx/trait/physics/PhysicsConstraint.hx
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@ -3,17 +3,16 @@ package leenkx.trait.physics;
#if (!lnx_physics)
class PhysicsConstraint extends iron.Trait { public function new() { super(); } }
@:enum abstract ConstraintAxis(Int) from Int to Int { }
#else
#if lnx_bullet
typedef PhysicsConstraint = leenkx.trait.physics.bullet.PhysicsConstraint;
typedef ConstraintAxis = leenkx.trait.physics.bullet.PhysicsConstraint.ConstraintAxis;
#else
typedef PhysicsConstraint = leenkx.trait.physics.oimo.PhysicsConstraint;
typedef ConstraintAxis = leenkx.trait.physics.oimo.PhysicsConstraint.ConstraintAxis;
#end
#end

5
leenkx/Sources/leenkx/trait/physics/PhysicsWorld.hx
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@ -2,6 +2,7 @@ package leenkx.trait.physics;
#if (!lnx_physics)
class Hit { }
class PhysicsWorld extends iron.Trait { public function new() { super(); } }
#else
@ -9,11 +10,11 @@ class PhysicsWorld extends iron.Trait { public function new() { super(); } }
#if lnx_bullet
typedef PhysicsWorld = leenkx.trait.physics.bullet.PhysicsWorld;
typedef Hit = leenkx.trait.physics.bullet.PhysicsWorld.Hit;
#else
typedef PhysicsWorld = leenkx.trait.physics.oimo.PhysicsWorld;
typedef Hit = leenkx.trait.physics.oimo.PhysicsWorld.Hit;
#end
#end

7
leenkx/Sources/leenkx/trait/physics/RigidBody.hx
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@ -3,17 +3,20 @@ package leenkx.trait.physics;
#if (!lnx_physics)
class RigidBody extends iron.Trait { public function new() { super(); } }
@:enum abstract Shape(Int) from Int to Int { }
#else
#if lnx_bullet
typedef RigidBody = leenkx.trait.physics.bullet.RigidBody;
typedef Shape = leenkx.trait.physics.bullet.RigidBody.Shape;
#else
typedef RigidBody = leenkx.trait.physics.oimo.RigidBody;
typedef Shape = leenkx.trait.physics.oimo.RigidBody.Shape;
#end
#end

130
leenkx/Sources/leenkx/trait/physics/bullet/DebugDrawHelper.hx
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@ -1,5 +1,8 @@
package leenkx.trait.physics.bullet;
#if lnx_bullet
import leenkx.trait.physics.bullet.PhysicsWorld.DebugDrawMode;
import bullet.Bt.Vector3;
import kha.FastFloat;
@ -18,15 +21,21 @@ class DebugDrawHelper {
static inline var contactPointNormalColor = 0xffffffff;
static inline var contactPointDrawLifetime = true;
final rayCastColor: Vec4 = new Vec4(0.0, 1.0, 0.0);
final rayCastHitColor: Vec4 = new Vec4(1.0, 0.0, 0.0);
final rayCastHitPointColor: Vec4 = new Vec4(1.0, 1.0, 0.0);
final physicsWorld: PhysicsWorld;
final lines: Array<LineData> = [];
final texts: Array<TextData> = [];
var font: kha.Font = null;
var debugMode: PhysicsWorld.DebugDrawMode = NoDebug;
var rayCasts:Array<TRayCastData> = [];
var debugDrawMode: DebugDrawMode = NoDebug;
public function new(physicsWorld: PhysicsWorld) {
public function new(physicsWorld: PhysicsWorld, debugDrawMode: DebugDrawMode) {
this.physicsWorld = physicsWorld;
this.debugDrawMode = debugDrawMode;
#if lnx_ui
iron.data.Data.getFont(Canvas.defaultFontName, function(defaultFont: kha.Font) {
@ -35,6 +44,11 @@ class DebugDrawHelper {
#end
iron.App.notifyOnRender2D(onRender);
if (debugDrawMode & DrawRayCast != 0) {
iron.App.notifyOnUpdate(function () {
rayCasts.resize(0);
});
}
}
public function drawLine(from: bullet.Bt.Vector3, to: bullet.Bt.Vector3, color: bullet.Bt.Vector3) {
@ -63,25 +77,6 @@ class DebugDrawHelper {
}
}
// Draws raycast in its own function because
// something is conflicting with the btVector3 and JS pointer wrapping
public function drawRayCast(fx:FastFloat, fy:FastFloat, fz:FastFloat, tx:FastFloat, ty:FastFloat, tz:FastFloat, r:FastFloat, g:FastFloat, b:FastFloat) {
final fromScreenSpace = worldToScreenFast(new Vec4(fx, fy, fz, 1.0));
final toScreenSpace = worldToScreenFast(new Vec4(tx, ty, tz, 1.0));
// TO DO: May still go off screen sides.
if (fromScreenSpace.w == 1 || toScreenSpace.w == 1) {
final color = kha.Color.fromFloats(r, g, b, 1.0);
lines.push({
fromX: fromScreenSpace.x,
fromY: fromScreenSpace.y,
toX: toScreenSpace.x,
toY: toScreenSpace.y,
color: color
});
}
}
public function drawContactPoint(pointOnB: Vector3, normalOnB: Vector3, distance: kha.FastFloat, lifeTime: Int, color: Vector3) {
#if js
pointOnB = js.Syntax.code("Ammo.wrapPointer({0}, Ammo.btVector3)", pointOnB);
@ -126,7 +121,62 @@ class DebugDrawHelper {
x: contactPointScreenSpace.x,
y: contactPointScreenSpace.y,
color: color,
text: Std.string(lifeTime),
text: Std.string(lifeTime), // lifeTime: number of frames the contact point existed
});
}
}
}
public function rayCast(rayCastData:TRayCastData) {
rayCasts.push(rayCastData);
}
function drawRayCast(f: Vec4, t: Vec4, hit: Bool) {
final from = worldToScreenFast(f.clone());
final to = worldToScreenFast(t.clone());
var c: kha.Color;
if (from.w == 1 && to.w == 1) {
if (hit) c = kha.Color.fromFloats(rayCastHitColor.x, rayCastHitColor.y, rayCastHitColor.z);
else c = kha.Color.fromFloats(rayCastColor.x, rayCastColor.y, rayCastColor.z);
lines.push({
fromX: from.x,
fromY: from.y,
toX: to.x,
toY: to.y,
color: c
});
}
}
function drawHitPoint(hp: Vec4) {
final hitPoint = worldToScreenFast(hp.clone());
final c = kha.Color.fromFloats(rayCastHitPointColor.x, rayCastHitPointColor.y, rayCastHitPointColor.z);
if (hitPoint.w == 1) {
lines.push({
fromX: hitPoint.x - contactPointSizePx,
fromY: hitPoint.y - contactPointSizePx,
toX: hitPoint.x + contactPointSizePx,
toY: hitPoint.y + contactPointSizePx,
color: c
});
lines.push({
fromX: hitPoint.x - contactPointSizePx,
fromY: hitPoint.y + contactPointSizePx,
toX: hitPoint.x + contactPointSizePx,
toY: hitPoint.y - contactPointSizePx,
color: c
});
if (font != null) {
texts.push({
x: hitPoint.x,
y: hitPoint.y,
color: c,
text: 'RAYCAST HIT'
});
}
}
@ -155,13 +205,13 @@ class DebugDrawHelper {
});
}
public function setDebugMode(debugMode: PhysicsWorld.DebugDrawMode) {
this.debugMode = debugMode;
public function setDebugMode(debugDrawMode: DebugDrawMode) {
this.debugDrawMode = debugDrawMode;
}
public function getDebugMode(): PhysicsWorld.DebugDrawMode {
public function getDebugMode(): DebugDrawMode {
#if js
return debugMode;
return debugDrawMode;
#elseif hl
return physicsWorld.getDebugDrawMode();
#else
@ -170,7 +220,7 @@ class DebugDrawHelper {
}
function onRender(g: kha.graphics2.Graphics) {
if (getDebugMode() == NoDebug && !physicsWorld.drawRaycasts) {
if (getDebugMode() == NoDebug) {
return;
}
@ -179,7 +229,9 @@ class DebugDrawHelper {
// will cause Bullet to call the btIDebugDraw callbacks), but this way
// we can ensure that--within a frame--the function will not be called
// before some user-specific physics update, which would result in a
// one-frame drawing delay...
// one-frame drawing delay... Ideally we would ensure that debugDrawWorld()
// is called when all other (late) update callbacks are already executed...
physicsWorld.world.debugDrawWorld();
g.opacity = 1.0;
@ -199,6 +251,17 @@ class DebugDrawHelper {
}
texts.resize(0);
}
if (debugDrawMode & DrawRayCast != 0) {
for (rayCastData in rayCasts) {
if (rayCastData.hasHit) {
drawRayCast(rayCastData.from, rayCastData.hitPoint, true);
drawHitPoint(rayCastData.hitPoint);
} else {
drawRayCast(rayCastData.from, rayCastData.to, false);
}
}
}
}
/**
@ -241,3 +304,14 @@ class TextData {
public var color: kha.Color;
public var text: String;
}
@:structInit
typedef TRayCastData = {
var from: Vec4;
var to: Vec4;
var hasHit: Bool;
@:optional var hitPoint: Vec4;
@:optional var hitNormal: Vec4;
}
#end

42
leenkx/Sources/leenkx/trait/physics/bullet/PhysicsWorld.hx
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@ -71,7 +71,6 @@ class PhysicsWorld extends Trait {
public var convexHitPointWorld = new Vec4();
public var convexHitNormalWorld = new Vec4();
var pairCache: Bool = false;
public var drawRaycasts: Bool = false;
static var nullvec = true;
static var vec1: bullet.Bt.Vector3 = null;
@ -102,7 +101,7 @@ class PhysicsWorld extends Trait {
public function new(timeScale = 1.0, maxSteps = 10, solverIterations = 10, debugDrawMode: DebugDrawMode = NoDebug, drawRaycasts: Bool = false) {
public function new(timeScale = 1.0, maxSteps = 10, solverIterations = 10, debugDrawMode: DebugDrawMode = NoDebug) {
super();
if (nullvec) {
@ -121,7 +120,6 @@ class PhysicsWorld extends Trait {
this.timeScale = timeScale;
this.maxSteps = maxSteps;
this.solverIterations = solverIterations;
this.drawRaycasts = drawRaycasts;
// First scene
if (active == null) {
@ -408,14 +406,6 @@ class PhysicsWorld extends Trait {
var worldDyn: bullet.Bt.DynamicsWorld = world;
var worldCol: bullet.Bt.CollisionWorld = worldDyn;
if (this.drawRaycasts && this.debugDrawHelper != null) {
this.debugDrawHelper.drawRayCast(
rayFrom.x(), rayFrom.y(), rayFrom.z(),
rayTo.x(), rayTo.y(), rayTo.z(),
0.73, 0.341, 1.0
);
}
worldCol.rayTest(rayFrom, rayTo, rayCallback);
var rb: RigidBody = null;
var hitInfo: Hit = null;
@ -441,6 +431,16 @@ class PhysicsWorld extends Trait {
#end
}
if (getDebugDrawMode() & DrawRayCast != 0) {
debugDrawHelper.rayCast({
from: from,
to: to,
hasHit: rc.hasHit(),
hitPoint: hitPointWorld,
hitNormal: hitNormalWorld
});
}
#if js
bullet.Bt.Ammo.destroy(rayCallback);
#else
@ -519,22 +519,14 @@ class PhysicsWorld extends Trait {
public function setDebugDrawMode(debugDrawMode: DebugDrawMode) {
if (debugDrawHelper == null) {
// Initialize if helper is null AND (standard debug mode is requested OR our custom raycast drawing is requested)
if (debugDrawMode != NoDebug || this.drawRaycasts) {
initDebugDrawing();
}
else {
// Helper is null and no debug drawing needed, so exit
if (debugDrawMode == NoDebug) {
return;
}
initDebugDrawing(debugDrawMode);
}
// If we reached here, the helper is initialized (or was already)
// Now set the standard Bullet debug mode on the actual drawer
#if js
// Ensure drawer exists before setting mode (might have just been initialized)
var drawer = world.getDebugDrawer();
if (drawer != null) drawer.setDebugMode(debugDrawMode);
world.getDebugDrawer().setDebugMode(debugDrawMode);
#elseif hl
hlDebugDrawer_setDebugMode(debugDrawMode);
#end
@ -554,8 +546,8 @@ class PhysicsWorld extends Trait {
#end
}
function initDebugDrawing() {
debugDrawHelper = new DebugDrawHelper(this);
function initDebugDrawing(debugDrawMode: DebugDrawMode) {
debugDrawHelper = new DebugDrawHelper(this, debugDrawMode);
#if js
final drawer = new bullet.Bt.DebugDrawer();
@ -691,6 +683,8 @@ enum abstract DebugDrawMode(Int) from Int to Int {
**/
var DrawFrames = 1 << 15;
var DrawRayCast = 1 << 16;
@:op(~A) public inline function bitwiseNegate(): DebugDrawMode {
return ~this;
}