merge upstream

leenkx/Sources/leenkx/trait/physics/bullet/DebugDrawHelper.hx

@@ -49,9 +49,10 @@ class DebugDrawHelper {
 		final fromScreenSpace = worldToScreenFast(new Vec4(from.x(), from.y(), from.z(), 1.0));
 		final toScreenSpace = worldToScreenFast(new Vec4(to.x(), to.y(), to.z(), 1.0));
 
-		// For now don't draw lines if any point is outside of clip space z,
 		// investigate how to clamp lines to clip space borders
-		if (fromScreenSpace.w == 1 && toScreenSpace.w == 1) {
+		// If at least one point is within the Z clip space (w==1), attempt to draw.
+		// Note: This is not full clipping, line may still go off screen sides.
+		if (fromScreenSpace.w == 1 || toScreenSpace.w == 1) {
 			lines.push({
 				fromX: fromScreenSpace.x,
 				fromY: fromScreenSpace.y,
@@ -62,6 +63,25 @@ 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);
@@ -106,7 +126,7 @@ class DebugDrawHelper {
 					x: contactPointScreenSpace.x,
 					y: contactPointScreenSpace.y,
 					color: color,
-					text: Std.string(lifeTime), // lifeTime: number of frames the contact point existed
+					text: Std.string(lifeTime),
 				});
 			}
 		}
@@ -150,7 +170,7 @@ class DebugDrawHelper {
 	}
 
 	function onRender(g: kha.graphics2.Graphics) {
-		if (getDebugMode() == NoDebug) {
+		if (getDebugMode() == NoDebug && !physicsWorld.drawRaycasts) {
 			return;
 		}
 
@@ -159,8 +179,7 @@ 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... Ideally we would ensure that debugDrawWorld()
+		// one-frame drawing delay...
-		// is called when all other (late) update callbacks are already executed...
 		physicsWorld.world.debugDrawWorld();
 
 		g.opacity = 1.0;

leenkx/Sources/leenkx/trait/physics/bullet/PhysicsWorld.hx

@@ -71,6 +71,7 @@ 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;
@@ -101,7 +102,7 @@ class PhysicsWorld extends Trait {
 
 
 
-	public function new(timeScale = 1.0, maxSteps = 10, solverIterations = 10, debugDrawMode: DebugDrawMode = NoDebug) {
+	public function new(timeScale = 1.0, maxSteps = 10, solverIterations = 10, debugDrawMode: DebugDrawMode = NoDebug, drawRaycasts: Bool = false) {
 		super();
 
 		if (nullvec) {
@@ -120,6 +121,7 @@ class PhysicsWorld extends Trait {
 		this.timeScale = timeScale;
 		this.maxSteps = maxSteps;
 		this.solverIterations = solverIterations;
+		this.drawRaycasts = drawRaycasts;
 
 		// First scene
 		if (active == null) {
@@ -180,8 +182,8 @@ class PhysicsWorld extends Trait {
 #else
 		world = new bullet.Bt.DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
 #end
-		// Set the solver iterations from Blender's rigid body world
+		// TO DO: Set the solver iterations from Blender's rigid body world
-		setSolverIterations(world, solverIterations);
+		// setSolverIterations(world, solverIterations);
 		setGravity(gravity);
 	}
 
@@ -395,6 +397,7 @@ class PhysicsWorld extends Trait {
 		rayTo.setValue(to.x, to.y, to.z);
 
 		var rayCallback = new bullet.Bt.ClosestRayResultCallback(rayFrom, rayTo);
+
 		#if js
 		rayCallback.set_m_collisionFilterGroup(group);
 		rayCallback.set_m_collisionFilterMask(mask);
@@ -404,6 +407,15 @@ class PhysicsWorld extends Trait {
 		#end
 		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;
@@ -507,14 +519,22 @@ class PhysicsWorld extends Trait {
 
 	public function setDebugDrawMode(debugDrawMode: DebugDrawMode) {
 		if (debugDrawHelper == null) {
-			if (debugDrawMode == NoDebug) {
+			// 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
 				return;
 			}
-			initDebugDrawing();
 		}
 
+		// If we reached here, the helper is initialized (or was already)
+		// Now set the standard Bullet debug mode on the actual drawer
 		#if js
-			world.getDebugDrawer().setDebugMode(debugDrawMode);
+			// Ensure drawer exists before setting mode (might have just been initialized)
+			var drawer = world.getDebugDrawer();
+			if (drawer != null) drawer.setDebugMode(debugDrawMode);
 		#elseif hl
 			hlDebugDrawer_setDebugMode(debugDrawMode);
 		#end
@@ -661,10 +681,7 @@ enum abstract DebugDrawMode(Int) from Int to Int {
 	// We could use it in the future to toggle depth testing for lines, i.e. draw actual 3D lines if not set and Kha's g2 lines if set.
 	var FastWireframe = 1 << 13;
 
-	/**
+	/** Draw the normal vectors of the triangles of the physics collider meshes. **/
-		Draw the normal vectors of the triangles of the physics collider meshes.
-		This only works for `Mesh` collision shapes.
-	**/
 	// Outside of Leenkx this works for a few more collision shapes
 	var DrawNormals = 1 << 14;
 

leenkx/blender/lnx/exporter.py

@@ -3035,6 +3035,7 @@ Make sure the mesh only has tris/quads.""")
                     debug_draw_mode |= 16384 if wrd.lnx_bullet_dbg_draw_normals else 0
                     debug_draw_mode |= 32768 if wrd.lnx_bullet_dbg_draw_axis_gizmo else 0
                     out_trait['parameters'].append(str(debug_draw_mode))
+                    out_trait['parameters'].append(str(wrd.lnx_bullet_dbg_draw_raycast).lower())
 
             self.output['traits'].append(out_trait)
 

leenkx/blender/lnx/handlers.py

@@ -132,6 +132,7 @@ def always() -> float:
     return 0.5
 
 
+
 def poll_threads() -> float:
     """Polls the thread callback queue and if a thread has finished, it
     is joined with the main thread and the corresponding callback is
@@ -141,21 +142,27 @@ def poll_threads() -> float:
         thread, callback = make.thread_callback_queue.get(block=False)
     except queue.Empty:
         return 0.25
-
+    if thread.is_alive():
-    thread.join()
+        try:
-
+            make.thread_callback_queue.put((thread, callback), block=False)
-    try:
+        except queue.Full:
-        callback()
+            return 0.5
-    except Exception as e:
+        return 0.1 
-        # If there is an exception, we can no longer return the time to
+    else:
-        # the next call to this polling function, so to keep it running
+        try:
-        # we re-register it and then raise the original exception.
+            thread.join()
-        bpy.app.timers.unregister(poll_threads)
+            callback()
-        bpy.app.timers.register(poll_threads, first_interval=0.01, persistent=True)
+        except Exception as e:
-        raise e
+            # If there is an exception, we can no longer return the time to
-
+            # the next call to this polling function, so to keep it running
-    # Quickly check if another thread has finished
+            # we re-register it and then raise the original exception.
-    return 0.01
+            try:
+                bpy.app.timers.unregister(poll_threads)
+            except ValueError:
+                pass
+            bpy.app.timers.register(poll_threads, first_interval=0.01, persistent=True)
+        # Quickly check if another thread has finished
+        return 0.01
 
 
 loaded_py_libraries: dict[str, types.ModuleType] = {}

leenkx/blender/lnx/props.py

@@ -201,6 +201,10 @@ def init_properties():
         name="Collider Wireframes", default=False,
         description="Draw wireframes of the physics collider meshes and suspensions of raycast vehicle simulations"
     )
+    bpy.types.World.lnx_bullet_dbg_draw_raycast = BoolProperty(
+        name="Trace Raycast", default=False,
+        description="Draw raycasts to trace the results"
+    )
     bpy.types.World.lnx_bullet_dbg_draw_aabb = BoolProperty(
         name="Axis-aligned Minimum Bounding Boxes", default=False,
         description="Draw axis-aligned minimum bounding boxes (AABBs) of the physics collider meshes"

leenkx/blender/lnx/props_ui.py

@@ -2756,6 +2756,7 @@ class LNX_PT_BulletDebugDrawingPanel(bpy.types.Panel):
 
         col = layout.column(align=False)
         col.prop(wrd, "lnx_bullet_dbg_draw_wireframe")
+        col.prop(wrd, "lnx_bullet_dbg_draw_raycast")
         col.prop(wrd, "lnx_bullet_dbg_draw_aabb")
         col.prop(wrd, "lnx_bullet_dbg_draw_contact_points")
         col.prop(wrd, "lnx_bullet_dbg_draw_constraints")

lib/haxebullet/hl/bullet.cpp

@@ -579,6 +579,18 @@ HL_PRIM float HL_NAME(btVector3_length0)(_ref(btVector3)* _this) {
 }
 DEFINE_PRIM(_F32, btVector3_length0, _IDL);
 
+HL_PRIM float* HL_NAME(btFloatArray_set_raw)( _ref(btFloatArray)* _this, float* value ) {
+	_unref(_this)->raw = (value);
+	return value; 
+}
+DEFINE_PRIM(_BYTES,btFloatArray_set_raw,_IDL _BYTES);
+
+HL_PRIM int* HL_NAME(btIntArray_set_raw)( _ref(btIntArray)* _this, int* value ) {
+	_unref(_this)->raw = (value);
+	return value; 
+}
+DEFINE_PRIM(_BYTES,btIntArray_get_raw,_IDL);
+
 HL_PRIM float HL_NAME(btVector3_x0)(_ref(btVector3)* _this) {
 	return _unref(_this)->x();
 }