@babylonjs/core 8.36.0 → 8.37.0

package/Physics/v2/Plugins/havokPlugin.js

@@ -2,6 +2,7 @@
 /* eslint-disable @typescript-eslint/naming-convention */
 import { Matrix, Quaternion, TmpVectors, Vector3 } from "../../../Maths/math.vector.js";
 import { PhysicsPrestepType, } from "../IPhysicsEnginePlugin.js";
+import { PhysicsRaycastResult } from "../../physicsRaycastResult.js";
 import { Logger } from "../../../Misc/logger.js";
 import { PhysicsShape } from "../physicsShape.js";
 import { BoundingBox } from "../../../Culling/boundingBox.js";
@@ -209,7 +210,7 @@ class TriggerEvent {
  * The Havok Physics plugin
  */
 export class HavokPlugin {
-    constructor(_useDeltaForWorldStep = true, hpInjection = HK) {
+    constructor(_useDeltaForWorldStep = true, hpInjection = HK, parameters = {}) {
         this._useDeltaForWorldStep = _useDeltaForWorldStep;
         /**
          * Reference to the WASM library
@@ -219,7 +220,9 @@ export class HavokPlugin {
          * Name of the plugin
          */
         this.name = "HavokPlugin";
+        this._multiQueryCollector = undefined;
         this._fixedTimeStep = 1 / 60;
+        this._maxQueryCollectorHits = 1;
         this._tmpVec3 = BuildArray(3, Vector3.Zero);
         this._bodies = new Map();
         this._shapes = new Map();
@@ -252,6 +255,7 @@ export class HavokPlugin {
         }
         this.world = this._hknp.HP_World_Create()[1];
         this._queryCollector = this._hknp.HP_QueryCollector_Create(1)[1];
+        this.setMaxQueryCollectorHits(parameters.maxQueryCollectorHits ?? 1);
     }
     /**
      * If this plugin is supported
@@ -287,6 +291,31 @@ export class HavokPlugin {
     getTimeStep() {
         return this._fixedTimeStep;
     }
+    /**
+     * Sets the maximum number of raycast hits to process.
+     *
+     * @param maxQueryCollectorHits - The maximum number of raycast hits to process.
+     */
+    setMaxQueryCollectorHits(maxQueryCollectorHits) {
+        if (maxQueryCollectorHits === this._maxQueryCollectorHits) {
+            return;
+        }
+        if (this._multiQueryCollector) {
+            this._hknp.HP_QueryCollector_Release(this._multiQueryCollector);
+            this._multiQueryCollector = undefined;
+        }
+        if (maxQueryCollectorHits > 1) {
+            this._multiQueryCollector = this._hknp.HP_QueryCollector_Create(maxQueryCollectorHits)[1];
+        }
+    }
+    /**
+     * Gets the maximum number of raycast hits to process.
+     *
+     * @returns The maximum number of raycast hits to process.
+     */
+    getMaxQueryCollectorHits() {
+        return this._maxQueryCollectorHits;
+    }
     /**
      * Executes a single step of the physics engine.
      *
@@ -1870,24 +1899,55 @@ export class HavokPlugin {
      *
      * @param from - The start point of the raycast.
      * @param to - The end point of the raycast.
-     * @param result - The PhysicsRaycastResult object to store the result of the raycast.
+     * @param result - The PhysicsRaycastResult object (or array of PhysicsRaycastResults) to store the result of the raycast.
      * @param query - The raycast query options. See [[IRaycastQuery]] for more information.
      *
      * Performs a raycast. It takes in two points, from and to, and a PhysicsRaycastResult object to store the result of the raycast.
      * It then performs the raycast and stores the hit data in the PhysicsRaycastResult object.
+     * If result is an empty array, it will be populated with every detected raycast hit.
+     * If result is a populated array, it will only fill the PhysicsRaycastResults present in the array.
      */
     raycast(from, to, result, query) {
         const queryMembership = query?.membership ?? ~0;
         const queryCollideWith = query?.collideWith ?? ~0;
         const shouldHitTriggers = query?.shouldHitTriggers ?? false;
-        result.reset(from, to);
         const bodyToIgnore = query?.ignoreBody ? [BigInt(query.ignoreBody._pluginData.hpBodyId[0])] : [BigInt(0)];
+        const results = Array.isArray(result) ? result : [result];
+        for (const raycastResult of results) {
+            raycastResult.reset(from, to);
+        }
         const hkQuery = [this._bVecToV3(from), this._bVecToV3(to), [queryMembership, queryCollideWith], shouldHitTriggers, bodyToIgnore];
-        this._hknp.HP_World_CastRayWithCollector(this.world, this._queryCollector, hkQuery);
-        if (this._hknp.HP_QueryCollector_GetNumHits(this._queryCollector)[1] > 0) {
-            const [, hitData] = this._hknp.HP_QueryCollector_GetCastRayResult(this._queryCollector, 0)[1];
-            this._populateHitData(hitData, result);
-            result.calculateHitDistance();
+        const queryCollector = results.length === 1 || !this._multiQueryCollector ? this._queryCollector : this._multiQueryCollector;
+        this._hknp.HP_World_CastRayWithCollector(this.world, queryCollector, hkQuery);
+        const numHits = this._hknp.HP_QueryCollector_GetNumHits(queryCollector)[1];
+        if (numHits <= 0) {
+            return;
+        }
+        if (!results.length) {
+            for (let i = 0; i < numHits; i++) {
+                const raycastResult = new PhysicsRaycastResult();
+                raycastResult.reset(from, to);
+                results.push(raycastResult);
+            }
+        }
+        // QueryCollector results are not sorted by distance, so we need to sort them manually
+        const hitDatas = new Array(numHits);
+        for (let i = 0; i < numHits; i++) {
+            const [, hitData] = this._hknp.HP_QueryCollector_GetCastRayResult(queryCollector, i)[1];
+            const hitPos = hitData[3];
+            from.subtractFromFloatsToRef(hitPos[0], hitPos[1], hitPos[2], this._tmpVec3[0]);
+            const distance = this._tmpVec3[0].lengthSquared();
+            hitDatas[i] = {
+                hitData,
+                distance: distance,
+            };
+        }
+        hitDatas.sort((a, b) => a.distance - b.distance);
+        for (let i = 0; i < Math.min(numHits, results.length); i++) {
+            const raycastResult = results[i];
+            const hitData = hitDatas[i];
+            this._populateHitData(hitData.hitData, raycastResult);
+            raycastResult.setHitDistance(Math.sqrt(hitData.distance));
         }
     }
     /**
@@ -2137,6 +2197,10 @@ export class HavokPlugin {
             this._hknp.HP_QueryCollector_Release(this._queryCollector);
             this._queryCollector = undefined;
         }
+        if (this._multiQueryCollector) {
+            this._hknp.HP_QueryCollector_Release(this._multiQueryCollector);
+            this._multiQueryCollector;
+        }
         if (this.world) {
             this._hknp.HP_World_Release(this.world);
             this.world = undefined;