public static bool Raycast(Vector3 source, Vector3 destination, out RaycastHitInfo info)
{
if (_contextWorld == null)
{
Log.Core.Error("raycast attempted without world context!");
throw new InvalidOperationException("Raycast attempted without world context.");
}
BulletVector3 Bdestination = destination.ToBullet();
BulletVector3 Bsource = source.ToBullet();
using (var cb = new ClosestRayResultCallback(ref Bsource, ref Bdestination))
{
_contextWorld.RayTestRef(ref Bsource, ref Bdestination, cb);
if (cb.HasHit)
{
info = new RaycastHitInfo(cb.HitPointWorld.ToNumerics(),
Vector3.Normalize(cb.HitNormalWorld.ToNumerics()),
(RigidBodyComponent)cb.CollisionObject.UserObject,
(ColliderComponent)cb.CollisionObject.CollisionShape.UserObject);
return(true);
}
else
{
info = new RaycastHitInfo(destination, new Vector3(1.0f, 0.0f, 0.0f), null);
return(false);
}
}
}
private void PickBody()
{
Vector3 rayFrom = _demo.Freelook.Eye;
Vector3 rayTo = _demo.GetCameraRayTo();
DynamicsWorld world = _demo.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;
}
}
}
public bool RayCast(Vector3 From, Vector3 To, out Vector3 HitPos, out Vector3 HitNormal, out RigidBody Body)
{
using (ClosestRayResultCallback RayResult = new ClosestRayResultCallback(ref From, ref To)) {
World.RayTestRef(ref From, ref To, RayResult);
if (RayResult.HasHit)
{
HitPos = RayResult.HitPointWorld;
HitNormal = RayResult.HitNormalWorld;
Body = RayResult.CollisionObject as RigidBody;
return(true);
}
}
Body = null;
HitPos = HitNormal = Vector3.Zero;
return(false);
}
public virtual void OnHandleInput()
{
if (Input.KeysPressed.Count != 0)
{
switch (Input.KeysPressed[0])
{
case Keys.Escape:
case Keys.Q:
Graphics.Form.Close();
return;
case Keys.F3:
IsDebugDrawEnabled = !IsDebugDrawEnabled;
break;
case Keys.F8:
Input.ClearKeyCache();
GraphicsLibraryManager.ExitWithReload = true;
Graphics.Form.Close();
break;
case Keys.F11:
Graphics.IsFullScreen = !Graphics.IsFullScreen;
break;
case (Keys.Control | Keys.F):
const int maxSerializeBufferSize = 1024 * 1024 * 5;
DefaultSerializer serializer = new DefaultSerializer(maxSerializeBufferSize);
World.Serialize(serializer);
byte[] dataBytes = new byte[serializer.CurrentBufferSize];
Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length);
System.IO.FileStream file = new System.IO.FileStream("world.bullet", System.IO.FileMode.Create);
file.Write(dataBytes, 0, dataBytes.Length);
file.Dispose();
break;
case Keys.G:
//shadowsEnabled = !shadowsEnabled;
break;
case Keys.Space:
ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView));
break;
case Keys.Return:
ClientResetScene();
break;
}
}
if (Input.MousePressed != MouseButtons.None)
{
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView);
if (Input.MousePressed == MouseButtons.Right)
{
if (_world != null)
{
Vector3 rayFrom = Freelook.Eye;
ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo);
_world.RayTestRef(ref rayFrom, ref rayTo, rayCallback);
if (rayCallback.HasHit)
{
RigidBody body = rayCallback.CollisionObject as RigidBody;
if (body != null)
{
if (!(body.IsStaticObject || body.IsKinematicObject))
{
pickedBody = body;
pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pickPos = rayCallback.HitPointWorld;
Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform));
if (Input.KeysDown.Contains(Keys.ShiftKey))
{
Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false)
{
LinearLowerLimit = Vector3.Zero,
LinearUpperLimit = Vector3.Zero,
AngularLowerLimit = Vector3.Zero,
AngularUpperLimit = Vector3.Zero
};
_world.AddConstraint(dof6);
pickConstraint = dof6;
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5);
}
else
{
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
_world.AddConstraint(p2p);
pickConstraint = p2p;
p2p.Setting.ImpulseClamp = 30;
//very weak constraint for picking
p2p.Setting.Tau = 0.001f;
/*
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 0);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 1);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 2);
*/
}
oldPickingDist = (pickPos - rayFrom).Length;
}
}
}
rayCallback.Dispose();
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
RemovePickingConstraint();
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
if (pickConstraint != null)
{
Vector3 newRayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView);
if (pickConstraint.ConstraintType == TypedConstraintType.D6)
{
Generic6DofConstraint pickCon = pickConstraint as Generic6DofConstraint;
//keep it at the same picking distance
Vector3 rayFrom = Freelook.Eye;
Vector3 dir = newRayTo - rayFrom;
dir.Normalize();
dir *= oldPickingDist;
Vector3 newPivotB = rayFrom + dir;
Matrix tempFrameOffsetA = pickCon.FrameOffsetA;
tempFrameOffsetA.M41 = newPivotB.X;
tempFrameOffsetA.M42 = newPivotB.Y;
tempFrameOffsetA.M43 = newPivotB.Z;
pickCon.SetFrames(tempFrameOffsetA, pickCon.FrameOffsetB);
}
else
{
Point2PointConstraint pickCon = pickConstraint as Point2PointConstraint;
//keep it at the same picking distance
Vector3 rayFrom = Freelook.Eye;
Vector3 dir = newRayTo - rayFrom;
dir.Normalize();
dir *= oldPickingDist;
pickCon.PivotInB = rayFrom + dir;
}
}
}
}