feat(physics): add physx raycast queries

tests/Physics/test_physics_world.cpp

@@ -160,4 +160,124 @@ TEST(PhysicsWorld_Test, DynamicSimulationWritesBackTransform) {
     EXPECT_LT(ball->GetTransform()->GetPosition().y, initialY - 0.1f);
 }
 
+TEST(PhysicsWorld_Test, RaycastHitsClosestCollider) {
+    using namespace XCEngine::Components;
+
+    Scene scene("PhysicsScene");
+
+    GameObject* ground = scene.CreateGameObject("Ground");
+    ground->GetTransform()->SetPosition(XCEngine::Math::Vector3(0.0f, -0.5f, 0.0f));
+    BoxColliderComponent* groundCollider = ground->AddComponent<BoxColliderComponent>();
+    groundCollider->SetSize(XCEngine::Math::Vector3(20.0f, 1.0f, 20.0f));
+
+    GameObject* target = scene.CreateGameObject("Target");
+    target->GetTransform()->SetPosition(XCEngine::Math::Vector3(0.0f, 2.0f, 0.0f));
+    SphereColliderComponent* sphereCollider = target->AddComponent<SphereColliderComponent>();
+    sphereCollider->SetRadius(0.5f);
+
+    XCEngine::Physics::PhysicsWorld world;
+    XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
+    createInfo.scene = &scene;
+
+    const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
+    ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
+
+    XCEngine::Physics::RaycastHit hit;
+    const bool result = world.Raycast(
+        XCEngine::Math::Vector3(0.0f, 5.0f, 0.0f),
+        XCEngine::Math::Vector3::Down(),
+        10.0f,
+        hit);
+
+    if (!expectedInitialized) {
+        EXPECT_FALSE(result);
+        EXPECT_EQ(hit.gameObject, nullptr);
+        return;
+    }
+
+    ASSERT_TRUE(result);
+    EXPECT_EQ(hit.gameObject, target);
+    EXPECT_NEAR(hit.distance, 2.5f, 0.02f);
+    EXPECT_NEAR(hit.point.x, 0.0f, 0.001f);
+    EXPECT_NEAR(hit.point.y, 2.5f, 0.02f);
+    EXPECT_NEAR(hit.point.z, 0.0f, 0.001f);
+    EXPECT_NEAR(hit.normal.x, 0.0f, 0.001f);
+    EXPECT_NEAR(hit.normal.y, 1.0f, 0.02f);
+    EXPECT_NEAR(hit.normal.z, 0.0f, 0.001f);
+    EXPECT_FALSE(hit.isTrigger);
+}
+
+TEST(PhysicsWorld_Test, RaycastMissClearsHitOutput) {
+    using namespace XCEngine::Components;
+
+    Scene scene("PhysicsScene");
+    GameObject* target = scene.CreateGameObject("Target");
+    target->AddComponent<BoxColliderComponent>();
+
+    XCEngine::Physics::PhysicsWorld world;
+    XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
+    createInfo.scene = &scene;
+
+    const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
+    ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
+
+    XCEngine::Physics::RaycastHit hit;
+    hit.gameObject = target;
+    hit.point = XCEngine::Math::Vector3::One();
+    hit.normal = XCEngine::Math::Vector3::Up();
+    hit.distance = 123.0f;
+    hit.isTrigger = true;
+
+    const bool result = world.Raycast(
+        XCEngine::Math::Vector3(0.0f, 5.0f, 0.0f),
+        XCEngine::Math::Vector3::Up(),
+        10.0f,
+        hit);
+
+    EXPECT_FALSE(result);
+    EXPECT_EQ(hit.gameObject, nullptr);
+    EXPECT_EQ(hit.point, XCEngine::Math::Vector3::Zero());
+    EXPECT_EQ(hit.normal, XCEngine::Math::Vector3::Zero());
+    EXPECT_FLOAT_EQ(hit.distance, 0.0f);
+    EXPECT_FALSE(hit.isTrigger);
+}
+
+TEST(PhysicsWorld_Test, RaycastCanHitTriggerCollider) {
+    using namespace XCEngine::Components;
+
+    Scene scene("PhysicsScene");
+    GameObject* trigger = scene.CreateGameObject("Trigger");
+    SphereColliderComponent* sphereCollider = trigger->AddComponent<SphereColliderComponent>();
+    sphereCollider->SetRadius(1.0f);
+    sphereCollider->SetTrigger(true);
+
+    XCEngine::Physics::PhysicsWorld world;
+    XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
+    createInfo.scene = &scene;
+
+    const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
+    ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
+
+    XCEngine::Physics::RaycastHit hit;
+    const bool result = world.Raycast(
+        XCEngine::Math::Vector3(0.0f, 0.0f, -5.0f),
+        XCEngine::Math::Vector3::Forward(),
+        10.0f,
+        hit);
+
+    if (!expectedInitialized) {
+        EXPECT_FALSE(result);
+        EXPECT_EQ(hit.gameObject, nullptr);
+        return;
+    }
+
+    ASSERT_TRUE(result);
+    EXPECT_EQ(hit.gameObject, trigger);
+    EXPECT_NEAR(hit.distance, 4.0f, 0.02f);
+    EXPECT_TRUE(hit.isTrigger);
+    EXPECT_NEAR(hit.normal.x, 0.0f, 0.001f);
+    EXPECT_NEAR(hit.normal.y, 0.0f, 0.001f);
+    EXPECT_NEAR(hit.normal.z, -1.0f, 0.02f);
+}
+
 } // namespace