Fix ShapeCast on sensors (space-wizards#6588)

* Filter hard-only fixtures in sensor-only raycasts

* Align

* Tests

* raycast

Author: metalgearsloth

Robust.Shared.IntegrationTests/Physics/RayCast_Test.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Linq;
 using System.Numerics;
 using NUnit.Framework;
@@ -17,6 +18,13 @@ namespace Robust.UnitTesting.Shared.Physics;
 [TestFixture]
 internal sealed class RayCast_Test
 {
+    public enum SensorCastKind
+    {
+        RayAll,
+        RayClosest,
+        Shape,
+    }
+
     private static TestCaseData[] _rayCases =
     {
         // Ray goes through
@@ -55,6 +63,34 @@ internal sealed class RayCast_Test
         new(new SlimPolygon(Box2.UnitCentered), new Transform(Vector2.Zero, Angle.Zero), -Vector2.UnitY, null),
     };
 
+    private static TestCaseData[] _sensorCases =
+    {
+        new TestCaseData(SensorCastKind.RayAll, true, false)
+            .SetName("RayCast all returns hard fixtures without sensor query flag"),
+        new TestCaseData(SensorCastKind.RayAll, true, true)
+            .SetName("RayCast all returns hard fixtures with sensor query flag"),
+        new TestCaseData(SensorCastKind.RayAll, false, false)
+            .SetName("RayCast all filters sensor fixtures without sensor query flag"),
+        new TestCaseData(SensorCastKind.RayAll, false, true)
+            .SetName("RayCast all returns sensor fixtures with sensor query flag"),
+        new TestCaseData(SensorCastKind.RayClosest, true, false)
+            .SetName("RayCast closest returns hard fixtures without sensor query flag"),
+        new TestCaseData(SensorCastKind.RayClosest, true, true)
+            .SetName("RayCast closest returns hard fixtures with sensor query flag"),
+        new TestCaseData(SensorCastKind.RayClosest, false, false)
+            .SetName("RayCast closest filters sensor fixtures without sensor query flag"),
+        new TestCaseData(SensorCastKind.RayClosest, false, true)
+            .SetName("RayCast closest returns sensor fixtures with sensor query flag"),
+        new TestCaseData(SensorCastKind.Shape, true, false)
+            .SetName("ShapeCast returns hard fixtures without sensor query flag"),
+        new TestCaseData(SensorCastKind.Shape, true, true)
+            .SetName("ShapeCast returns hard fixtures with sensor query flag"),
+        new TestCaseData(SensorCastKind.Shape, false, false)
+            .SetName("ShapeCast filters sensor fixtures without sensor query flag"),
+        new TestCaseData(SensorCastKind.Shape, false, true)
+            .SetName("ShapeCast returns sensor fixtures with sensor query flag"),
+    };
+
     [Test, TestCaseSource(nameof(_rayCases))]
     public void RayCast(Vector2 origin, Vector2 direction, Vector2? point)
     {
@@ -113,6 +149,55 @@ public void ShapeCast(IPhysShape shape, Transform origin, Vector2 direction, Vec
         }
     }
 
+    [Test, TestCaseSource(nameof(_sensorCases))]
+    public void SensorFixtureCasts(SensorCastKind kind, bool hardFixture, bool includeSensors)
+    {
+        var sim = RobustServerSimulation.NewSimulation().RegisterEntitySystems(f =>
+        {
+            f.LoadExtraSystemType<RayCastSystem>();
+        }).InitializeInstance();
+        SetupSensorFixture(sim, out var mapId, out var target, hardFixture);
+        var raycast = sim.System<RayCastSystem>();
+
+        var flags = QueryFlags.Dynamic | QueryFlags.Static;
+        if (includeSensors)
+            flags |= QueryFlags.Sensors;
+
+        var filter = new QueryFilter
+        {
+            LayerBits = 1,
+            Flags = flags,
+        };
+
+        var hits = kind switch
+        {
+            SensorCastKind.RayAll => raycast.CastRay(
+                mapId,
+                Vector2.UnitX / 2f,
+                Vector2.UnitY * 3f,
+                filter),
+            SensorCastKind.RayClosest => raycast.CastRayClosest(
+                mapId,
+                Vector2.UnitX / 2f,
+                Vector2.UnitY * 3f,
+                filter),
+            SensorCastKind.Shape => raycast.CastShape(
+                mapId,
+                new PhysShapeCircle(0.1f),
+                new Transform(Vector2.UnitX / 2f, Angle.Zero),
+                Vector2.UnitY * 3f,
+                filter,
+                RayCastSystem.RayCastAllCallback),
+            _ => throw new ArgumentOutOfRangeException(nameof(kind), kind, null),
+        };
+
+        var expected = hardFixture || includeSensors
+            ? new[] { target }
+            : Array.Empty<EntityUid>();
+
+        Assert.That(hits.Results.Select(hit => hit.Entity).ToArray(), Is.EqualTo(expected));
+    }
+
     private void Setup(ISimulation sim, out MapId mapId)
     {
         var entManager = sim.Resolve<IEntityManager>();
@@ -142,4 +227,38 @@ private void Setup(ISimulation sim, out MapId mapId)
         entManager.System<SharedTransformSystem>().SetLocalRotation(grid.Owner, Angle.FromDegrees(90));
         entManager.System<SharedTransformSystem>().SetLocalPosition(grid.Owner, Vector2.UnitX / 2f);
     }
+
+    private void SetupSensorFixture(ISimulation sim, out MapId mapId, out EntityUid target, bool hard)
+    {
+        var entManager = sim.Resolve<IEntityManager>();
+        var mapSystem = entManager.System<SharedMapSystem>();
+        var fixtureSystem = entManager.System<FixtureSystem>();
+        var physicsSystem = entManager.System<SharedPhysicsSystem>();
+
+        mapSystem.CreateMap(out mapId);
+        var grid = mapSystem.CreateGridEntity(mapId);
+
+        for (var i = 0; i < 3; i++)
+        {
+            mapSystem.SetTile(grid, new Vector2i(0, i), new Tile(1));
+        }
+
+        target = SpawnCastTarget(entManager, fixtureSystem, physicsSystem, grid.Owner, new Vector2(0.5f, 1f), hard);
+    }
+
+    private EntityUid SpawnCastTarget(
+        IEntityManager entManager,
+        FixtureSystem fixtureSystem,
+        SharedPhysicsSystem physicsSystem,
+        EntityUid parent,
+        Vector2 position,
+        bool hard)
+    {
+        var uid = entManager.SpawnEntity(null, new EntityCoordinates(parent, position));
+        var physics = entManager.AddComponent<PhysicsComponent>(uid);
+        fixtureSystem.CreateFixture(uid, "fix1", new Fixture(new PhysShapeCircle(0.25f), 1, 1, hard));
+        physicsSystem.SetCanCollide(uid, true, body: physics);
+        Assert.That(physics.CanCollide);
+        return uid;
+    }
 }

Robust.Shared/Physics/Systems/RayCastSystem.Geometry.cs

@@ -112,6 +112,11 @@ private static float RayCastCallback(RayCastInput input, FixtureProxy proxy, ref
             return input.MaxFraction;
         }
 
+        if ((worldContext.Filter.Flags & QueryFlags.Sensors) == 0x0 && !proxy.Fixture.Hard)
+        {
+            return input.MaxFraction;
+        }
+
         if (worldContext.Filter.IsIgnored?.Invoke(proxy.Entity) == true)
         {
             return input.MaxFraction;