raycast.hpp

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#pragma once
 
#include "body.hpp"
#include "shape.hpp"
#include "toast/world/box.hpp"
 
#include <glm/glm.hpp>
#include <optional>
#include <vector>
 
namespace physics {
 
struct RayHit {
  toast::Box<toast::Node> node;
  glm::vec3 position;
  glm::vec3 normal;
  float distance;
  BodyID body;
  ShapeID shape;
};

TOAST_API auto raycast(
    glm::vec3 origin, glm::vec3 direction, float max_distance = -1.0f, BodyID ignored = {}, const std::vector<int>& layers = {}
) -> std::optional<RayHit>;

TOAST_API auto raymulticast(
    glm::vec3 origin, glm::vec3 direction, float max_distance = -1.0f, int max_hits = -1, BodyID ignored = {},
    const std::vector<int>& layers = {}
) -> std::vector<RayHit>;

TOAST_API auto linecast(glm::vec3 from, glm::vec3 to, int max_hits = -1, BodyID ignored = {}, const std::vector<int>& layers = {})
    -> std::vector<RayHit>;
 
struct SphereHit {
  toast::Box<toast::Node> node;
  glm::vec3 position;
  glm::vec3 normal;
  float penetration;
};
 
TOAST_API auto sphereOverlap(glm::vec3 position, float radius) -> std::optional<SphereHit>;

TOAST_API auto overlapAABB(glm::vec3 min, glm::vec3 max) -> bool;
 
}