void TestRayCast(CollisionObject testObject)
{
Vector3 rayFromWorld = testObject.WorldTransform.Origin + new Vector3(0, 0, -2);
Vector3 rayToWorld = testObject.WorldTransform.Origin + new Vector3(0, 0, 2);
var rayCallback = new CustomRayCallback(ref rayFromWorld, ref rayToWorld);
world.RayTest(ref rayFromWorld, ref rayToWorld, rayCallback);
if (rayCallback.CollisionObject != testObject)
{
Console.WriteLine("Raycast FAILED!");
}
AddToDisposeQueue(rayCallback);
}
public override bool Raycast(GameSystem.GameCore.SerializableMath.Vector3 startPoint, GameSystem.GameCore.SerializableMath.Vector3 endPoint, out GameSystem.GameCore.SerializableMath.Vector3 hitPoint, out CollisionProxy hitObject, int mask = -1)
{
// transfer serializable math position to bullet math position
BulletSharp.Math.Vector3 start = startPoint.ToBullet(), end = endPoint.ToBullet();
var callback = new ClosestRayResultCallback(ref start, ref end);
// set group mask filter
callback.CollisionFilterMask = (short)mask;
world.RayTest(start, end, callback);
if (callback.HasHit)
{
hitPoint = callback.HitPointWorld.ToSerializable();
hitObject = (CollisionProxy)callback.CollisionObject.UserObject;
}
else
{
hitPoint = GameSystem.GameCore.SerializableMath.Vector3.Zero;
hitObject = null;
}
return(callback.HasHit);
}
public static List <RayTestResult> RayTest(OpenTK.Vector3 from, OpenTK.Vector3 to, params GameObject[] ignoreObjects)
{
var cb = new RayResultCB(ignoreObjects);
world.RayTest(from, to, cb);
var res = cb.Results;
foreach (var r in res)
{
r.Position = Vector3.Lerp(from, to, r.Rate);
}
res.Sort((r1, r2) => r1.Rate - r2.Rate < 0.0f ? -1 : 1);
return(res);
}
public bool RayPick(OpenTK.Vector3 from, OpenTK.Vector3 to, out OpenTK.Vector3 col)
{
var bfrom = ToBulletVector3(from);
var bto = ToBulletVector3(to);
var cfrom = new BulletSharp.Math.Vector3();
var cto = new BulletSharp.Math.Vector3();
ClosestRayResultCallback rayCb = new ClosestRayResultCallback(ref cfrom, ref cto);
world.RayTest(bfrom, bto, rayCb);
// Lerp로 보간해야 결과가 나온다.
var p = BulletSharp.Math.Vector3.Lerp(bfrom, bto, rayCb.ClosestHitFraction);
col = ToOpenVector3(p);
return(rayCb.HasHit);
}
/// <summary>
/// Called when the game has determined that game logic needs to be processed.
/// </summary>
/// <param name="gameTime">Time passed since the last call to this function.</param>
protected override void Update(GameTime gameTime)
{
MouseState mouseState = Mouse.GetState();
Vector3 rayTo = getRayTo(mouseState.X, mouseState.Y);
if (mouseState.LeftButton == ButtonState.Pressed && _prevMouseState.LeftButton == ButtonState.Released)
{
shootBox(rayTo);
}
if (mouseState.MiddleButton == ButtonState.Pressed && _prevMouseState.MiddleButton == ButtonState.Released)
{
if (_world != null)
{
CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(_camera.Position, rayTo);
_world.RayTest(_camera.Position, rayTo, rayCallback);
if (rayCallback.HasHit)
{
RigidBody body = RigidBody.Upcast(rayCallback.CollisionObject);
if (body != null)
{
//other exclusions?
if (!(body.IsStaticObject || body.IsKinematicObject))
{
_pickedBody = body;
_pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pickPos = rayCallback.HitPointWorld;
Vector3 localPivot = Vector3.Transform(pickPos, XnaDevRu.BulletX.MathHelper.InvertMatrix(body.CenterOfMassTransform));
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
_world.AddConstraint(p2p);
_pickConstraint = p2p;
//save mouse position for dragging
_oldPickingPos = rayTo;
Vector3 eyePos = new Vector3(_camera.Position.X, _camera.Position.Y, _camera.Position.Z);
_oldPickingDist = (eyePos - pickPos).Length();
//very weak constraint for picking
p2p.Settings.Tau = 1.1f;
}
}
}
}
}
else if (mouseState.MiddleButton == ButtonState.Released && _prevMouseState.MiddleButton == ButtonState.Pressed)
{
if (_pickConstraint != null && _world != null)
{
_world.RemoveConstraint(_pickConstraint);
_pickConstraint = null;
_pickedBody.ForceActivationState(ActivationState.Active);
_pickedBody.DeactivationTime = 0f;
_pickedBody = null;
}
}
if (_pickConstraint != null)
{
//move the constraint pivot
Point2PointConstraint p2p = _pickConstraint as Point2PointConstraint;
if (p2p != null)
{
//keep it at the same picking distance
Vector3 dir = rayTo - _camera.Position;
dir.Normalize();
dir *= _oldPickingDist;
Vector3 newPos = _camera.Position + dir;
p2p.PivotInB = newPos;
}
}
_prevMouseState = mouseState;
if (Keyboard.GetState().IsKeyDown(Keys.Space))
{
//world.stepSimulation(1.0f/60.0f,0);
int numObjects = _world.CollisionObjectsCount;
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = _world.CollisionObjects[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.MotionState != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.MotionState;
myMotionState.GraphicsWorldTransform = myMotionState.StartWorldTransform;
colObj.WorldTransform = myMotionState.GraphicsWorldTransform;
colObj.InterpolationWorldTransform = myMotionState.StartWorldTransform;
colObj.Activate();
}
//removed cached contact points
_world.Broadphase.CleanProxyFromPairs(colObj.Broadphase);
if (body != null && !body.IsStaticObject)
{
RigidBody.Upcast(colObj).LinearVelocity = new Vector3(0, 0, 0);
RigidBody.Upcast(colObj).AngularVelocity = new Vector3(0, 0, 0);
}
}
}
}
else if (Keyboard.GetState().IsKeyDown(Keys.Escape) || GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed)
{
Exit();
}
else
{
//world.stepSimulation(1.0f / 60.0f, 1);
}
base.Update(gameTime);
}