godot/scene/3d/physics/ray_cast_3d.cpp

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/**************************************************************************/
/* ray_cast_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#include "ray_cast_3d.h"
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#include "scene/3d/mesh_instance_3d.h"
#include "scene/3d/physics/collision_object_3d.h"
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void RayCast3D::set_target_position(const Vector3 &p_point) {
target_position = p_point;
update_gizmos();
if (Engine::get_singleton()->is_editor_hint()) {
if (is_inside_tree()) {
_update_debug_shape_vertices();
}
} else if (debug_instance.is_valid()) {
_update_debug_shape();
}
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}
Vector3 RayCast3D::get_target_position() const {
return target_position;
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}
void RayCast3D::set_collision_mask(uint32_t p_mask) {
collision_mask = p_mask;
}
uint32_t RayCast3D::get_collision_mask() const {
return collision_mask;
}
void RayCast3D::set_collision_mask_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
uint32_t mask = get_collision_mask();
if (p_value) {
mask |= 1 << (p_layer_number - 1);
} else {
mask &= ~(1 << (p_layer_number - 1));
}
set_collision_mask(mask);
}
bool RayCast3D::get_collision_mask_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive.");
return get_collision_mask() & (1 << (p_layer_number - 1));
}
bool RayCast3D::is_colliding() const {
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return collided;
}
Object *RayCast3D::get_collider() const {
if (against.is_null()) {
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return nullptr;
}
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return ObjectDB::get_instance(against);
}
RID RayCast3D::get_collider_rid() const {
return against_rid;
}
int RayCast3D::get_collider_shape() const {
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return against_shape;
}
Vector3 RayCast3D::get_collision_point() const {
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return collision_point;
}
Vector3 RayCast3D::get_collision_normal() const {
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return collision_normal;
}
int RayCast3D::get_collision_face_index() const {
return collision_face_index;
}
void RayCast3D::set_enabled(bool p_enabled) {
enabled = p_enabled;
update_gizmos();
if (is_inside_tree() && !Engine::get_singleton()->is_editor_hint()) {
set_physics_process_internal(p_enabled);
}
if (!p_enabled) {
collided = false;
}
if (is_inside_tree() && get_tree()->is_debugging_collisions_hint()) {
if (p_enabled) {
_update_debug_shape();
} else {
_clear_debug_shape();
}
}
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}
bool RayCast3D::is_enabled() const {
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return enabled;
}
void RayCast3D::set_exclude_parent_body(bool p_exclude_parent_body) {
if (exclude_parent_body == p_exclude_parent_body) {
return;
}
exclude_parent_body = p_exclude_parent_body;
if (!is_inside_tree()) {
return;
}
if (Object::cast_to<CollisionObject3D>(get_parent())) {
if (exclude_parent_body) {
exclude.insert(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
} else {
exclude.erase(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
}
}
}
bool RayCast3D::get_exclude_parent_body() const {
return exclude_parent_body;
}
void RayCast3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
if (Engine::get_singleton()->is_editor_hint()) {
_update_debug_shape_vertices();
}
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if (enabled && !Engine::get_singleton()->is_editor_hint()) {
set_physics_process_internal(true);
} else {
set_physics_process_internal(false);
}
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if (get_tree()->is_debugging_collisions_hint()) {
_update_debug_shape();
}
if (Object::cast_to<CollisionObject3D>(get_parent())) {
if (exclude_parent_body) {
exclude.insert(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
} else {
exclude.erase(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
}
}
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} break;
case NOTIFICATION_EXIT_TREE: {
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if (enabled) {
set_physics_process_internal(false);
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}
if (debug_instance.is_valid()) {
_clear_debug_shape();
}
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} break;
case NOTIFICATION_VISIBILITY_CHANGED: {
if (is_inside_tree() && debug_instance.is_valid()) {
RenderingServer::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
}
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (!enabled) {
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break;
}
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bool prev_collision_state = collided;
_update_raycast_state();
if (get_tree()->is_debugging_collisions_hint()) {
if (prev_collision_state != collided) {
_update_debug_shape_material(true);
}
if (is_inside_tree() && debug_instance.is_valid()) {
RenderingServer::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
}
}
} break;
}
}
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void RayCast3D::_update_raycast_state() {
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Ref<World3D> w3d = get_world_3d();
ERR_FAIL_COND(w3d.is_null());
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PhysicsDirectSpaceState3D *dss = PhysicsServer3D::get_singleton()->space_get_direct_state(w3d->get_space());
ERR_FAIL_NULL(dss);
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Transform3D gt = get_global_transform();
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Vector3 to = target_position;
if (to == Vector3()) {
to = Vector3(0, 0.01, 0);
}
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PhysicsDirectSpaceState3D::RayParameters ray_params;
ray_params.from = gt.get_origin();
ray_params.to = gt.xform(to);
ray_params.exclude = exclude;
ray_params.collision_mask = collision_mask;
ray_params.collide_with_bodies = collide_with_bodies;
ray_params.collide_with_areas = collide_with_areas;
ray_params.hit_from_inside = hit_from_inside;
ray_params.hit_back_faces = hit_back_faces;
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PhysicsDirectSpaceState3D::RayResult rr;
if (dss->intersect_ray(ray_params, rr)) {
collided = true;
against = rr.collider_id;
against_rid = rr.rid;
collision_point = rr.position;
collision_normal = rr.normal;
collision_face_index = rr.face_index;
against_shape = rr.shape;
} else {
collided = false;
against = ObjectID();
against_rid = RID();
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against_shape = 0;
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}
}
void RayCast3D::force_raycast_update() {
_update_raycast_state();
}
void RayCast3D::add_exception_rid(const RID &p_rid) {
exclude.insert(p_rid);
}
void RayCast3D::add_exception(const CollisionObject3D *p_node) {
ERR_FAIL_NULL_MSG(p_node, "The passed Node must be an instance of CollisionObject3D.");
add_exception_rid(p_node->get_rid());
}
void RayCast3D::remove_exception_rid(const RID &p_rid) {
exclude.erase(p_rid);
}
void RayCast3D::remove_exception(const CollisionObject3D *p_node) {
ERR_FAIL_NULL_MSG(p_node, "The passed Node must be an instance of CollisionObject3D.");
remove_exception_rid(p_node->get_rid());
}
void RayCast3D::clear_exceptions() {
exclude.clear();
if (exclude_parent_body && is_inside_tree()) {
CollisionObject3D *parent = Object::cast_to<CollisionObject3D>(get_parent());
if (parent) {
exclude.insert(parent->get_rid());
}
}
}
void RayCast3D::set_collide_with_areas(bool p_enabled) {
collide_with_areas = p_enabled;
}
bool RayCast3D::is_collide_with_areas_enabled() const {
return collide_with_areas;
}
void RayCast3D::set_collide_with_bodies(bool p_enabled) {
collide_with_bodies = p_enabled;
}
bool RayCast3D::is_collide_with_bodies_enabled() const {
return collide_with_bodies;
}
void RayCast3D::set_hit_from_inside(bool p_enabled) {
hit_from_inside = p_enabled;
}
bool RayCast3D::is_hit_from_inside_enabled() const {
return hit_from_inside;
}
void RayCast3D::set_hit_back_faces(bool p_enabled) {
hit_back_faces = p_enabled;
}
bool RayCast3D::is_hit_back_faces_enabled() const {
return hit_back_faces;
}
void RayCast3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &RayCast3D::set_enabled);
ClassDB::bind_method(D_METHOD("is_enabled"), &RayCast3D::is_enabled);
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ClassDB::bind_method(D_METHOD("set_target_position", "local_point"), &RayCast3D::set_target_position);
ClassDB::bind_method(D_METHOD("get_target_position"), &RayCast3D::get_target_position);
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ClassDB::bind_method(D_METHOD("is_colliding"), &RayCast3D::is_colliding);
ClassDB::bind_method(D_METHOD("force_raycast_update"), &RayCast3D::force_raycast_update);
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ClassDB::bind_method(D_METHOD("get_collider"), &RayCast3D::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_rid"), &RayCast3D::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &RayCast3D::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_point"), &RayCast3D::get_collision_point);
ClassDB::bind_method(D_METHOD("get_collision_normal"), &RayCast3D::get_collision_normal);
ClassDB::bind_method(D_METHOD("get_collision_face_index"), &RayCast3D::get_collision_face_index);
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ClassDB::bind_method(D_METHOD("add_exception_rid", "rid"), &RayCast3D::add_exception_rid);
ClassDB::bind_method(D_METHOD("add_exception", "node"), &RayCast3D::add_exception);
ClassDB::bind_method(D_METHOD("remove_exception_rid", "rid"), &RayCast3D::remove_exception_rid);
ClassDB::bind_method(D_METHOD("remove_exception", "node"), &RayCast3D::remove_exception);
ClassDB::bind_method(D_METHOD("clear_exceptions"), &RayCast3D::clear_exceptions);
ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &RayCast3D::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &RayCast3D::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &RayCast3D::set_collision_mask_value);
ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &RayCast3D::get_collision_mask_value);
ClassDB::bind_method(D_METHOD("set_exclude_parent_body", "mask"), &RayCast3D::set_exclude_parent_body);
ClassDB::bind_method(D_METHOD("get_exclude_parent_body"), &RayCast3D::get_exclude_parent_body);
ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &RayCast3D::set_collide_with_areas);
ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &RayCast3D::is_collide_with_areas_enabled);
ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &RayCast3D::set_collide_with_bodies);
ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &RayCast3D::is_collide_with_bodies_enabled);
ClassDB::bind_method(D_METHOD("set_hit_from_inside", "enable"), &RayCast3D::set_hit_from_inside);
ClassDB::bind_method(D_METHOD("is_hit_from_inside_enabled"), &RayCast3D::is_hit_from_inside_enabled);
ClassDB::bind_method(D_METHOD("set_hit_back_faces", "enable"), &RayCast3D::set_hit_back_faces);
ClassDB::bind_method(D_METHOD("is_hit_back_faces_enabled"), &RayCast3D::is_hit_back_faces_enabled);
ClassDB::bind_method(D_METHOD("set_debug_shape_custom_color", "debug_shape_custom_color"), &RayCast3D::set_debug_shape_custom_color);
ClassDB::bind_method(D_METHOD("get_debug_shape_custom_color"), &RayCast3D::get_debug_shape_custom_color);
ClassDB::bind_method(D_METHOD("set_debug_shape_thickness", "debug_shape_thickness"), &RayCast3D::set_debug_shape_thickness);
ClassDB::bind_method(D_METHOD("get_debug_shape_thickness"), &RayCast3D::get_debug_shape_thickness);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_parent"), "set_exclude_parent_body", "get_exclude_parent_body");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "suffix:m"), "set_target_position", "get_target_position");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_from_inside"), "set_hit_from_inside", "is_hit_from_inside_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_back_faces"), "set_hit_back_faces", "is_hit_back_faces_enabled");
ADD_GROUP("Collide With", "collide_with");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_areas", "is_collide_with_areas_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
ADD_GROUP("Debug Shape", "debug_shape");
ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_shape_custom_color"), "set_debug_shape_custom_color", "get_debug_shape_custom_color");
ADD_PROPERTY(PropertyInfo(Variant::INT, "debug_shape_thickness", PROPERTY_HINT_RANGE, "1,5"), "set_debug_shape_thickness", "get_debug_shape_thickness");
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}
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int RayCast3D::get_debug_shape_thickness() const {
return debug_shape_thickness;
}
void RayCast3D::_update_debug_shape_vertices() {
debug_shape_vertices.clear();
debug_line_vertices.clear();
if (target_position == Vector3()) {
return;
}
debug_line_vertices.push_back(Vector3());
debug_line_vertices.push_back(target_position);
if (debug_shape_thickness > 1) {
float scale_factor = 100.0;
Vector3 dir = Vector3(target_position).normalized();
// Draw truncated pyramid
Vector3 normal = (fabs(dir.x) + fabs(dir.y) > CMP_EPSILON) ? Vector3(-dir.y, dir.x, 0).normalized() : Vector3(0, -dir.z, dir.y).normalized();
normal *= debug_shape_thickness / scale_factor;
int vertices_strip_order[14] = { 4, 5, 0, 1, 2, 5, 6, 4, 7, 0, 3, 2, 7, 6 };
for (int v = 0; v < 14; v++) {
Vector3 vertex = vertices_strip_order[v] < 4 ? normal : normal / 3.0 + target_position;
debug_shape_vertices.push_back(vertex.rotated(dir, Math_PI * (0.5 * (vertices_strip_order[v] % 4) + 0.25)));
}
}
}
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void RayCast3D::set_debug_shape_thickness(const int p_debug_shape_thickness) {
debug_shape_thickness = p_debug_shape_thickness;
update_gizmos();
if (Engine::get_singleton()->is_editor_hint()) {
if (is_inside_tree()) {
_update_debug_shape_vertices();
}
} else if (debug_instance.is_valid()) {
_update_debug_shape();
}
}
const Vector<Vector3> &RayCast3D::get_debug_shape_vertices() const {
return debug_shape_vertices;
}
const Vector<Vector3> &RayCast3D::get_debug_line_vertices() const {
return debug_line_vertices;
}
void RayCast3D::set_debug_shape_custom_color(const Color &p_color) {
debug_shape_custom_color = p_color;
if (debug_material.is_valid()) {
_update_debug_shape_material();
}
}
Ref<StandardMaterial3D> RayCast3D::get_debug_material() {
_update_debug_shape_material();
return debug_material;
}
const Color &RayCast3D::get_debug_shape_custom_color() const {
return debug_shape_custom_color;
}
void RayCast3D::_create_debug_shape() {
_update_debug_shape_material();
if (!debug_instance.is_valid()) {
debug_instance = RenderingServer::get_singleton()->instance_create();
}
if (debug_mesh.is_null()) {
debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
}
}
void RayCast3D::_update_debug_shape_material(bool p_check_collision) {
if (!debug_material.is_valid()) {
Ref<StandardMaterial3D> material = memnew(StandardMaterial3D);
debug_material = material;
material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
// Use double-sided rendering so that the RayCast can be seen if the camera is inside.
material->set_cull_mode(BaseMaterial3D::CULL_DISABLED);
material->set_transparency(BaseMaterial3D::TRANSPARENCY_ALPHA);
}
Color color = debug_shape_custom_color;
if (color == Color(0.0, 0.0, 0.0)) {
// Use the default debug shape color defined in the Project Settings.
color = get_tree()->get_debug_collisions_color();
}
if (p_check_collision && collided) {
if ((color.get_h() < 0.055 || color.get_h() > 0.945) && color.get_s() > 0.5 && color.get_v() > 0.5) {
// If base color is already quite reddish, highlight collision with green color
color = Color(0.0, 1.0, 0.0, color.a);
} else {
// Else, highlight collision with red color
color = Color(1.0, 0, 0, color.a);
}
}
Ref<StandardMaterial3D> material = static_cast<Ref<StandardMaterial3D>>(debug_material);
material->set_albedo(color);
}
void RayCast3D::_update_debug_shape() {
if (!enabled) {
return;
}
if (!debug_instance.is_valid()) {
_create_debug_shape();
}
if (!debug_instance.is_valid() || debug_mesh.is_null()) {
return;
}
_update_debug_shape_vertices();
debug_mesh->clear_surfaces();
Array a;
a.resize(Mesh::ARRAY_MAX);
uint32_t flags = 0;
int surface_count = 0;
if (!debug_line_vertices.is_empty()) {
a[Mesh::ARRAY_VERTEX] = debug_line_vertices;
debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
debug_mesh->surface_set_material(surface_count, debug_material);
++surface_count;
}
if (!debug_shape_vertices.is_empty()) {
a[Mesh::ARRAY_VERTEX] = debug_shape_vertices;
debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLE_STRIP, a, Array(), Dictionary(), flags);
debug_mesh->surface_set_material(surface_count, debug_material);
++surface_count;
}
RenderingServer::get_singleton()->instance_set_base(debug_instance, debug_mesh->get_rid());
if (is_inside_tree()) {
RenderingServer::get_singleton()->instance_set_scenario(debug_instance, get_world_3d()->get_scenario());
RenderingServer::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
RenderingServer::get_singleton()->instance_set_transform(debug_instance, get_global_transform());
}
}
void RayCast3D::_clear_debug_shape() {
ERR_FAIL_NULL(RenderingServer::get_singleton());
if (debug_instance.is_valid()) {
RenderingServer::get_singleton()->free(debug_instance);
debug_instance = RID();
}
if (debug_mesh.is_valid()) {
RenderingServer::get_singleton()->free(debug_mesh->get_rid());
debug_mesh = Ref<ArrayMesh>();
}
}
RayCast3D::RayCast3D() {
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}