Add shapecasts + raycasts #5440
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Actual raycasts. Need this for AI LIDAR experiment.
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Coincidentally, I started to take a look at the raycast end of this recently (https://github.com/eoineoineoin/RobustToolbox/commits/eoin/2024.09.xx.raycasts/) - I took a slightly different approach of putting a castray() function on the shapes interface which is a bit clearer IMO (though, that strategy doesn't work for shapecasts). If you want to run with this, that's fine, I'll leave it - I still had to finish some functions, had a bunch of todos, polish, and tests to do, but I did notice a few issues with the SharedPhysicsSystem.Queries.cs which would also be good to include. |
| /// Gets the position of the Matrix. Will have some precision loss. | ||
| /// </summary> | ||
| [MethodImpl(MethodImplOptions.AggressiveInlining)] | ||
| public static Vector2 Position(this Matrix3x2 t) |
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Not sure what you mean by "precision loss", but this method already exists (Matrix3x2.Translation), so no need for it (along with the tests).
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I'm porting the new C code from box2d. |
Actual raycasts. Need this for AI LIDAR experiment.