private void PickBody()
{
Vector3 rayFrom = _demo.FreeLook.Eye;
Vector3 rayTo = _demo.GetCameraRayTo();
DiscreteDynamicsWorld world = _demo.Simulation.World;
using (var rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo))
{
world.RayTestRef(ref rayFrom, ref rayTo, rayCallback);
if (rayCallback.HasHit)
{
Vector3 pickPosition = rayCallback.HitPointWorld;
var body = rayCallback.CollisionObject as RigidBody;
if (body != null)
{
PickRigidBody(body, ref pickPosition);
}
else
{
var collider = rayCallback.CollisionObject as MultiBodyLinkCollider;
if (collider != null)
{
PickMultiBody(collider, ref pickPosition);
}
}
_oldPickingDist = (pickPosition - rayFrom).Length;
}
}
}
