improve segment vs segment collision, small fixes

include/bounce/common/draw.h

@@ -32,6 +32,15 @@ struct b3Color
 	float32 r, g, b, a;
 };
 
+// Color pallete commonly used by the debug draw interface.
+extern const b3Color b3Color_black;
+extern const b3Color b3Color_white;
+extern const b3Color b3Color_red;
+extern const b3Color b3Color_green;
+extern const b3Color b3Color_blue;
+extern const b3Color b3Color_yellow;
+extern const b3Color b3Color_pink;
+
 // Implement this interface and set to a world so it can draw the physics entities.
 class b3Draw 
 {

include/bounce/dynamics/world.h

@@ -34,6 +34,14 @@ class b3ContactListener;
 class b3ContactFilter;
 class b3Draw;
 
+struct b3RayCastSingleOutput
+{
+	b3Shape* shape; // shape
+	b3Vec3 point; // intersection point on surface
+	b3Vec3 normal; // surface normal of intersection
+	float32 fraction; // time of intersection on segment
+};
+
 // Use a physics world to create/destroy rigid bodies, execute ray cast and volume queries.
 class b3World
 {
@@ -83,6 +91,13 @@ public:
 	// and the number of constraint solver iterations.
 	void Step(float32 dt, u32 velocityIterations, u32 positionIterations);
 	
+	// Perform a ray cast with the world.
+	// If the ray doesn't intersect with a shape in the world then return false.
+	// The ray cast output is the intercepted shape, the intersection 
+	// point in world space, the face normal on the shape associated with the point, 
+	// and the intersection fraction.
+	bool RayCastSingle(b3RayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
+
 	// Perform a ray cast with the world.
 	// The given ray cast listener will be notified when a ray intersects a shape 
 	// in the world. 
@@ -91,13 +106,6 @@ public:
 	// and the intersection fraction.
 	void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
 
-	// Convenience function.
-	// Perform a ray cast with the world.
-	// If there is an intersection then the given ray cast listener will be notified once with 
-	// the shape closest to the ray origin and the associated ray cast output. 
-	// @todo Centralize all queries to a common scene query class?
-	void RayCastFirst(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
-
 	// Perform a AABB cast with the world.
 	// The query listener will be notified when two shape AABBs are overlapping.
 	// If the listener returns false then the query is stopped immediately.

include/testbed/framework/debug_draw.h

@@ -106,7 +106,7 @@ public:
 
 	void Draw(const b3World& world);
 
-	void Draw();
+	void Submit();
 private:
 	friend struct DrawShapes;
 

include/testbed/tests/ray_cast.h

@@ -204,18 +204,12 @@ public:
 
 	void CastRay(const b3Vec3 p1, const b3Vec3 p2) const
 	{
-		// Perform the ray cast
-		RayCastListener listener;
-		listener.hit.shape = NULL;
-		m_world.RayCastFirst(&listener, p1, p2);
-
-		RayCastHit hit = listener.hit;
-		if (hit.shape)
+		b3RayCastSingleOutput out;
+		if (m_world.RayCastSingle(&out, p1, p2))
 		{
-			// Replace current hit
-			g_debugDraw->DrawSegment(p1, hit.point, b3Color(0.0f, 1.0f, 0.0f));
-			g_debugDraw->DrawPoint(hit.point, 4.0f, b3Color(1.0f, 0.0f, 0.0f));
-			g_debugDraw->DrawSegment(hit.point, hit.point + hit.normal, b3Color(1.0f, 1.0f, 1.0f));
+			g_debugDraw->DrawSegment(p1, out.point, b3Color(0.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawPoint(out.point, 4.0f, b3Color(1.0f, 0.0f, 0.0f));
+			g_debugDraw->DrawSegment(out.point, out.point + out.normal, b3Color(1.0f, 1.0f, 1.0f));
 		}
 		else
 		{

include/testbed/tests/test.h

@@ -88,14 +88,6 @@ struct TestEntry
 
 extern TestEntry g_tests[];
 
-struct RayCastHit
-{
-	b3Shape* shape;
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 fraction;
-};
-
 class RayCastListener : public b3RayCastListener
 {
 public:
@@ -108,7 +100,7 @@ public:
 		return 1.0f;
 	}
 
-	RayCastHit hit;
+	b3RayCastSingleOutput hit;
 };
 
 class Test : public b3ContactListener
@@ -142,7 +134,7 @@ public:
 	b3Profile m_profile;
 	b3Profile m_maxProfile;
 
-	RayCastHit m_rayHit;
+	b3RayCastSingleOutput m_rayHit;
 	b3BoxHull m_groundHull;
 	b3BoxHull m_boxHull;
 	b3BoxHull m_tallHull;