/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
void RayCast(ODERayRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.Length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
m_contactResults.Sort(delegate(ContactResult a, ContactResult b)
{
return(a.Depth.CompareTo(b.Depth));
});
// Return results
if (req.CallbackMethod != null)
{
req.CallbackMethod(m_contactResults.Take(req.Count).ToList());
}
}
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
void RayCast(ODERayRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.Length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
m_contactResults.Sort(delegate(ContactResult a, ContactResult b)
{
return a.Depth.CompareTo(b.Depth);
});
// Return results
if (req.CallbackMethod != null)
req.CallbackMethod(m_contactResults.Take(req.Count).ToList());
}
}
