Cast Shape

[LeXXik]

I am constructing an RShapeCast for casting a shape. Does it take the position/rotation/direction values in world space?

I would like to cast a sphere from world Y:20 to world Y:-20. There is a floor (box) at zero level. My attempt doesn't detect a hit:

const position = new Jolt.Vec3(0, 20, 0);
const rotation = new Jolt.Quat(0, 0, 0, 1);
const direction = new Jolt.Vec3(0, -40, 0);
const scale = new Jolt.Vec3(1, 1, 1);
const transform = new Jolt.Mat44();

transform.sTranslation(position);
transform.sRotation(rotation);
// not sure if scale is needed, but setting it as well
transform.sScale(scale);

const shapeCast = new Jolt.RShapeCast(shape, scale, transform, direction);

// using CastShapeClosestHitCollisionCollector for collector
system.GetNarrowPhaseQuery().CastShape(shapeCast, castSettings, offset, collector, bpFilter, objFilter, bodyFilter, shapeFilter);

Sime params for casting ray work fine, though. Ray can detect the floor and all the objects on top of it.

[jrouwe]

transform.sTranslation(position);
transform.sRotation(rotation);
transform.sScale(scale);

Functions prefixed by an 's' are static functions, so they will not modify transform, their purpose is to create a matrix.

You'll want to use:

const transform = Jolt.Mat44.prototype.sRotationTranslation(rotation, position);

or simply:

const transform = Jolt.Mat44.prototype.sTranslation(position);

since your rotation is identity.

This matrix cannot contain any scale (you're passing scale as a separate parameter to CastShape).

[LeXXik]

Ah, those are statics, gotcha. Thank you! sRotationTranslation worked well:
https://playcanv.as/b/2fb1dc9d

I wanted to reuse Mat44, but looks like there is no way. I will destroy it immediately then.