Raycast against level geom

game/game.odin

@@ -359,8 +359,6 @@ World_Update_Config :: struct {
 }
 
 update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
-	rl.BeginDrawing()
-	rl.BeginMode3D(game_camera_3d())
 	if !world.pause {
 		car_model := assets.get_model(&g_mem.assetman, "assets/toyota_corolla_ae86_trueno.glb")
 		car_bounds := rl.GetModelBoundingBox(car_model)
@@ -1043,6 +1041,7 @@ draw_world :: proc(world: ^World) {
 draw :: proc() {
 	tracy.Zone()
 
+	rl.BeginDrawing()
 	defer rl.EndDrawing()
 	rl.ClearBackground(rl.GRAY)
 	render.clear_stencil()
@@ -1061,6 +1060,7 @@ draw :: proc() {
 	// )
 
 	{
+		rl.BeginMode3D(camera)
 		defer rl.EndMode3D()
 
 		draw_world(world)

game/physics/debug.odin

@@ -69,7 +69,7 @@ draw_debug_scene :: proc(scene: ^Scene) {
 		}
 	}
 
-	if false {
+	if true {
 		for &level_geom, geom_idx in sim_state.level_geoms {
 			if level_geom.alive {
 				vertices, indices := get_level_geom_data(sim_state, level_geom.geometry)

game/physics/simulation.odin

@@ -1,6 +1,5 @@
 package physics
 
-import rl " libs:raylib"
 import "base:runtime"
 import "bvh"
 import "collision"
@@ -180,6 +179,52 @@ build_dynamic_tlas :: proc(sim_state: ^Sim_State, config: Solver_Config) -> Dyna
 	return Dynamic_TLAS{bvh_tree = sim_state_bvh, body_aabbs = body_aabbs}
 }
 
+raycasts_level :: proc(
+	sim_state: ^Sim_State,
+	tlas: ^Static_TLAS,
+	origin, dir: Vec3,
+	distance := max(f32),
+) -> (
+	t: f32,
+	normal: Vec3,
+	hit: bool,
+) {
+	temp := runtime.default_temp_allocator_temp_begin()
+	defer runtime.default_temp_allocator_temp_end(temp)
+
+	t = distance
+
+	ray: bvh.Ray
+	ray.origin = origin
+	ray.dir = dir
+	ray.dir_inv = 1.0 / dir
+	it := bvh.iterator_intersect_leaf_ray(&tlas.bvh_tree.bvh, ray, distance)
+
+	for leaf_node in bvh.iterator_intersect_leaf_next(&it) {
+		for j in 0 ..< leaf_node.prim_len {
+			tri_idx := tlas.bvh_tree.bvh.primitives[leaf_node.child_or_prim_start + j]
+			tri := get_triangle(
+				tlas.bvh_tree.mesh.vertices,
+				tlas.bvh_tree.mesh.indices,
+				int(tri_idx),
+			)
+
+			hit_t, tmp_normal, _, ok := collision.intersect_ray_triangle(
+				{origin, origin + dir},
+				tri,
+			)
+
+			if ok && (!hit || hit_t < t) {
+				t = hit_t
+				normal = tmp_normal
+				hit = true
+			}
+		}
+	}
+
+	return
+}
+
 raycast_bodies :: proc(
 	sim_state: ^Sim_State,
 	tlas: ^Dynamic_TLAS,
@@ -226,6 +271,43 @@ raycast_bodies :: proc(
 	return
 }
 
+raycast :: proc(
+	sim_state: ^Sim_State,
+	static_tlas: ^Static_TLAS,
+	dyn_tlas: ^Dynamic_TLAS,
+	origin, dir: Vec3,
+	distance := max(f32),
+) -> (
+	t: f32,
+	normal: Vec3,
+	hit: bool,
+) {
+	t = distance
+
+	t1, normal1, hit1 := raycasts_level(sim_state, static_tlas, origin, dir, t)
+	t2, normal2, hit2 := raycast_bodies(sim_state, dyn_tlas, origin, dir, t)
+
+	hit = hit1 || hit2
+
+	if hit1 && hit2 {
+		if t1 < t2 {
+			t = t1
+			normal = normal1
+		} else {
+			t = t2
+			normal = normal2
+		}
+	} else if hit1 {
+		t = t1
+		normal = normal1
+	} else if hit2 {
+		t = t2
+		normal = normal2
+	}
+
+	return
+}
+
 get_triangle :: proc(vertices: []Vec3, indices: []u16, tri_idx: int) -> (tri: [3]Vec3) {
 	i1, i2, i3 := indices[tri_idx * 3 + 0], indices[tri_idx * 3 + 1], indices[tri_idx * 3 + 2]
 	tri[0], tri[1], tri[2] = vertices[i1], vertices[i2], vertices[i3]
@@ -557,7 +639,7 @@ update_contacts :: proc(sim_state: ^Sim_State, static_tlas: ^Static_TLAS) {
 
 			m2 = collision.double_sided_triangle_to_convex(tri, context.temp_allocator)
 		// m2 = level_geom_get_convex_shape(sim_state, level_geom, int(contact.tri_idx))
-			he.debug_draw_mesh_wires(m2, rl.BLUE)
+		// he.debug_draw_mesh_wires(m2, rl.BLUE)
 		}
 
 		// Raw manifold has contact points in world space
@@ -955,7 +1037,8 @@ calculate_ground_vel :: proc(
 
 pgs_solve_suspension :: proc(
 	sim_state: ^Sim_State,
-	tlas: ^Dynamic_TLAS,
+	static_tlas: ^Static_TLAS,
+	dyn_tlas: ^Dynamic_TLAS,
 	config: Solver_Config,
 	dt: f32,
 	inv_dt: f32,
@@ -969,9 +1052,10 @@ pgs_solve_suspension :: proc(
 			if body.alive {
 				wheel_world_pos := body_local_to_world(body, v.rel_pos)
 				dir := body_local_to_world_vec(body, v.rel_dir)
-				v.hit_t, v.hit_normal, v.hit = raycast_bodies(
+				v.hit_t, v.hit_normal, v.hit = raycast(
 					sim_state,
-					tlas,
+					static_tlas,
+					dyn_tlas,
 					wheel_world_pos,
 					dir,
 					v.rest,
@@ -1159,7 +1243,8 @@ pgs_solve_suspension :: proc(
 
 pgs_substep :: proc(
 	sim_state: ^Sim_State,
-	tlas: ^Dynamic_TLAS,
+	static_tlas: ^Static_TLAS,
+	dyn_tlas: ^Dynamic_TLAS,
 	config: Solver_Config,
 	dt: f32,
 	inv_dt: f32,
@@ -1272,7 +1357,7 @@ pgs_substep :: proc(
 	apply_bias := true
 	pgs_solve_contacts(sim_state, config, dt, inv_dt, apply_bias)
 	pgs_solve_engines(sim_state, config, dt, inv_dt)
-	pgs_solve_suspension(sim_state, tlas, config, dt, inv_dt)
+	pgs_solve_suspension(sim_state, static_tlas, dyn_tlas, config, dt, inv_dt)
 
 	for i in 0 ..< len(sim_state.bodies_slice) {
 		body := &sim_state.bodies_slice[i]
@@ -1345,7 +1430,7 @@ simulate_step :: proc(scene: ^Scene, sim_state: ^Sim_State, config: Solver_Confi
 		}
 	case .PGS:
 		for _ in 0 ..< substeps {
-			pgs_substep(sim_state, &dyn_tlas, config, dt, inv_dt)
+			pgs_substep(sim_state, &static_tlas, &dyn_tlas, config, dt, inv_dt)
 		}
 	}