static void TestRayCast(CollisionObject testObject)
{
Vector3 rayFromWorld = testObject.WorldTransform.Origin + new Vector3(0, 0, -2);
Vector3 rayToWorld = testObject.WorldTransform.Origin + new Vector3(0, 0, 2);
var rayCallback = new CustomRayCallback(ref rayFromWorld, ref rayToWorld);
world.RayTestRef(ref rayFromWorld, ref rayToWorld, rayCallback);
if (rayCallback.CollisionObject != testObject)
{
Console.WriteLine("Raycast FAILED!");
}
AddToDisposeQueue(rayCallback);
}
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;
}
}
}
public bool PointRaycast(PhysicsObject me, Vector3 origin, Vector3 direction, float maxDist, out Vector3 contactPoint, out PhysicsObject didHit)
{
contactPoint = Vector3.Zero;
didHit = null;
ClosestRayResultCallback cb;
var from = origin.Cast();
var to = (origin + direction * maxDist).Cast();
if (me != null)
{
cb = new KinematicClosestNotMeRayResultCallback(me.RigidBody);
cb.RayFromWorld = from;
cb.RayToWorld = to;
}
else
{
cb = new ClosestRayResultCallback(ref from, ref to);
}
using (cb)
{
btWorld.RayTestRef(ref from, ref to, cb);
if (cb.HasHit)
{
didHit = cb.CollisionObject.UserObject as PhysicsObject;
contactPoint = cb.HitPointWorld.Cast();
return(true);
}
return(false);
}
}