public static HkContactBodyData?CastShapeReturnContactBodyData(Vector3D to, HkShape shape, ref MatrixD transform, uint collisionFilter, float extraPenetration, bool ignoreConvexShape = true)
{
m_resultWorlds.Clear();
Clusters.Intersects(to, m_resultWorlds);
if (m_resultWorlds.Count == 0)
{
return(null);
}
var world = m_resultWorlds[0];
Matrix transformF = transform;
transformF.Translation = (Vector3)(transform.Translation - world.AABB.Center);
Vector3 toF = (Vector3)(to - world.AABB.Center);
HkContactBodyData?result = ((HkWorld)world.UserData).CastShapeReturnContactBodyData(toF, shape, ref transformF, collisionFilter, extraPenetration);
if (result == null)
{
return(null);
}
HkContactBodyData cpd = result.Value;
cpd.HitPosition += world.AABB.Center;
return(cpd);
}
public static bool CastShapeReturnContactBodyDatas(Vector3D to, HkShape shape, ref MatrixD transform, uint collisionFilter, float extraPenetration, List <HkContactBodyData> result, bool ignoreConvexShape = true)
{
m_resultWorlds.Clear();
Clusters.Intersects(to, m_resultWorlds);
if (m_resultWorlds.Count == 0)
{
return(false);
}
var world = m_resultWorlds[0];
Matrix transformF = transform;
transformF.Translation = (Vector3)(transform.Translation - world.AABB.Center);
Vector3 toF = (Vector3)(to - world.AABB.Center);
m_resultShapeCasts.Clear();
if (((HkWorld)world.UserData).CastShapeReturnContactBodyDatas(toF, shape, ref transformF, collisionFilter, extraPenetration, m_resultShapeCasts))
{
foreach (var res in m_resultShapeCasts)
{
HkContactBodyData cpd = res.Value;
cpd.HitPosition += world.AABB.Center;
result.Add(cpd);
}
return(true);
}
return(false);
}
