/// <summary>
/// Pefrorms a sweep test using a collider shape and never stops until "to"
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
/// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
public List<HitResult> ShapeSweepPenetrating(ColliderShape shape, Matrix from, Matrix to)
{
var sh = shape.InternalShape as BulletSharp.ConvexShape;
if (sh == null) throw new Exception("This kind of shape cannot be used for a ShapeSweep.");
var result = new List<HitResult>();
using (var rcb = new BulletSharp.AllHitsConvexResultCallback())
{
collisionWorld.ConvexSweepTest(sh, from, to, rcb);
var count = rcb.CollisionObjects.Count;
for (var i = 0; i < count; i++)
{
var singleResult = new HitResult
{
Succeeded = true,
Collider = (PhysicsComponent)rcb.CollisionObjects[i].UserObject,
Normal = rcb.HitNormalWorld[i],
Point = rcb.HitPointWorld[i]
};
result.Add(singleResult);
}
}
return result;
}
/// <summary>
/// Raycasts penetrating any shape the ray encounters.
/// </summary>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
public List<HitResult> RaycastPenetrating(Vector3 from, Vector3 to)
{
var result = new List<HitResult>();
using (var rcb = new BulletSharp.AllHitsRayResultCallback(from, to))
{
collisionWorld.RayTest(ref from, ref to, rcb);
var count = rcb.CollisionObjects.Count;
for (var i = 0; i < count; i++)
{
var singleResult = new HitResult
{
Succeeded = true,
Collider = (PhysicsComponent)rcb.CollisionObjects[i].UserObject,
Normal = rcb.HitNormalWorld[i],
Point = rcb.HitPointWorld[i]
};
result.Add(singleResult);
}
}
return result;
}
/// <summary>
/// Pefrorms a sweep test using a collider shape and stops at the first hit
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
/// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
public HitResult ShapeSweep(ColliderShape shape, Matrix from, Matrix to)
{
var sh = shape.InternalShape as BulletSharp.ConvexShape;
if (sh == null) throw new Exception("This kind of shape cannot be used for a ShapeSweep.");
var result = new HitResult(); //result.Succeded is false by default
using (var rcb = new BulletSharp.ClosestConvexResultCallback(from.TranslationVector, to.TranslationVector))
{
collisionWorld.ConvexSweepTest(sh, from, to, rcb);
if (rcb.HitCollisionObject == null) return result;
result.Succeeded = true;
result.Collider = (PhysicsComponent)rcb.HitCollisionObject.UserObject;
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
}
return result;
}
/// <summary>
/// Raycasts and stops at the first hit.
/// </summary>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
public HitResult Raycast(Vector3 from, Vector3 to)
{
var result = new HitResult(); //result.Succeded is false by default
using (var rcb = new BulletSharp.ClosestRayResultCallback(from, to))
{
collisionWorld.RayTest(ref from, ref to, rcb);
if (rcb.CollisionObject == null) return result;
result.Succeeded = true;
result.Collider = (PhysicsComponent)rcb.CollisionObject.UserObject;
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
}
return result;
}
