/// <summary>
/// Sweeps a sphere against the physics world reporting all hits on the path even if they ignore collisions, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="radius">Radius of the sphere</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="outSweepResults">All overlaps on the sweep path</param>
/// <returns>True if any object was hit</returns>
public bool SphereMultiSweep(float radius, ref SharpDX.Vector3 startPos, ref SharpDX.Vector3 sweep, List <SRaycastResult> outSweepResults)
{
SphereShape sphereShape = new SphereShape(radius);
Quaternion rotation = Quaternion.Identity;
return(MultiSweep(sphereShape, ref startPos, ref rotation, ref sweep, outSweepResults));
}
/// <summary>
/// Sweeps a convex shape against the physics world reporting all hits on the path even if they ignore collisions, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="shape">Shape to sweep</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="outSweepResults">All overlaps on the sweep path</param>
/// <returns>True if any object was hit</returns>
public bool MultiSweep(ConvexShape shape, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, List <SRaycastResult> outSweepResults)
{
RigidTransform startTransform = new RigidTransform(startPos.ToBepu(), rotation.ToBepu());
Vector3 sweepVector = sweep.ToBepu();
List <RayCastResult> physicsResults = new List <RayCastResult>();
if (m_physicSpace.ConvexCast(shape, ref startTransform, ref sweepVector, physicsResults))
{
foreach (RayCastResult physicsResult in physicsResults)
{
if (physicsResult.HitObject.Tag is CEntity gameEntity)
{
SRaycastResult gameResult = new SRaycastResult()
{
HitEntity = gameEntity,
Location = physicsResult.HitData.Location.ToSharp(),
Normal = -physicsResult.HitData.Normal.ToSharp(),
Distance = physicsResult.HitData.T,
bIsSolidHit = false
};
outSweepResults.Add(gameResult);
}
}
return(outSweepResults.Count > 0);
}
return(false);
}
/// <summary>
/// Sweeps a sphere against the physics world reporting the closest hit to the start location, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="radius">Radius of the sphere</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="group">Collision group to filter the sweep hits, anything above "Normal" is ignored</param>
/// <param name="outSweepResult">Closest hit to the start location</param>
/// <returns>True if any object was hit</returns>
public bool SphereSweep(float radius, ref SharpDX.Vector3 startPos, ref SharpDX.Vector3 sweep, CollisionGroup group, ref SRaycastResult outSweepResult)
{
SphereShape sphereShape = new SphereShape(radius);
Quaternion rotation = Quaternion.Identity;
return(ConvexSweep(sphereShape, ref startPos, ref rotation, ref sweep, group, ref outSweepResult));
}
/// <summary>
/// Sweeps a convex shape against the physics world reporting all hits on the path that are not ignored by the filter, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="shape">Shape to sweep</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="sweepRules">Collision rules to filter the sweep hits, anything above "NoSolver" is ignored</param>
/// <param name="outSweepResults">All overlaps on the sweep path</param>
/// <returns>True if any object was hit</returns>
public bool MultiSweep(ConvexShape shape, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, CollisionRules sweepRules, List <SRaycastResult> outSweepResults)
{
SimpleCollisionRulesOwner rulesOwner = new SimpleCollisionRulesOwner(sweepRules);
RigidTransform startTransform = new RigidTransform(startPos.ToBepu(), rotation.ToBepu());
Vector3 sweepVector = sweep.ToBepu();
List <RayCastResult> physicsResults = new List <RayCastResult>();
if (m_physicSpace.ConvexCast(shape, ref startTransform, ref sweepVector, GetOverlapFilter(rulesOwner), physicsResults))
{
foreach (RayCastResult physicsResult in physicsResults)
{
if (physicsResult.HitObject.Tag is CEntity gameEntity)
{
CollisionRule rule = CollisionRules.GetCollisionRule(physicsResult.HitObject, rulesOwner);
SRaycastResult gameResult = new SRaycastResult()
{
HitEntity = gameEntity,
Location = physicsResult.HitData.Location.ToSharp(),
Normal = -physicsResult.HitData.Normal.ToSharp(),
Distance = physicsResult.HitData.T,
bIsSolidHit = rule <= CollisionRule.Normal
};
outSweepResults.Add(gameResult);
}
}
return(outSweepResults.Count > 0);
}
return(false);
}
/// <summary>
/// Sweeps a convex shape against the physics world reporting the closest hit to the start location, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="shape">Shape to sweep</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="filter">Function to filter hits</param>
/// <param name="outSweepResult">Closest hit to the start location</param>
/// <returns>True if any object was hit</returns>
public bool ConvexSweep(ConvexShape shape, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, Func <BroadPhaseEntry, bool> filter, ref SRaycastResult outSweepResult)
{
RigidTransform startTransform = new RigidTransform(startPos.ToBepu(), rotation.ToBepu());
Vector3 sweepVector = sweep.ToBepu();
if (m_physicSpace.ConvexCast(shape, ref startTransform, ref sweepVector, filter, out RayCastResult result))
{
if (result.HitObject.Tag is CEntity gameEntity)
{
outSweepResult.HitEntity = gameEntity;
outSweepResult.Location = result.HitData.Location.ToSharp();
outSweepResult.Normal = -result.HitData.Normal.ToSharp();
outSweepResult.Distance = result.HitData.T;
outSweepResult.bIsSolidHit = true;
return(true);
}
}
return(false);
}
/// <summary>
/// Sweeps a capsule against the physics world reporting all hits on the path even if they ignore collisions, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="length">Length of the capsule</param>
/// <param name="radius">Radius of the capsule</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="outSweepResults">All overlaps on the sweep path</param>
/// <returns>True if any object was hit</returns>
public bool CapsuleMultiSweep(float length, float radius, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, List <SRaycastResult> outSweepResults)
{
CapsuleShape capsuleShape = new CapsuleShape(length, radius);
return(MultiSweep(capsuleShape, ref startPos, ref rotation, ref sweep, outSweepResults));
}
/// <summary>
/// Sweeps a capsule against the physics world reporting the closest hit to the start location, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="length">Length of the capsule</param>
/// <param name="radius">Radius of the capsule</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="group">Collision group to filter the sweep hits, anything above "Normal" is ignored</param>
/// <param name="outSweepResult">Closest hit to the start location</param>
/// <returns>True if any object was hit</returns>
public bool CapsuleSweep(float length, float radius, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, CollisionGroup group, ref SRaycastResult outSweepResult)
{
CapsuleShape capsuleShape = new CapsuleShape(length, radius);
return(ConvexSweep(capsuleShape, ref startPos, ref rotation, ref sweep, group, ref outSweepResult));
}
/// <summary>
/// Sweeps a convex shape against the physics world reporting the closest hit to the start location, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="shape">Shape to sweep</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="group">Collision group to filter the sweep hits, anything above "Normal" is ignored</param>
/// <param name="outSweepResult">Closest hit to the start location</param>
/// <returns>True if any object was hit</returns>
public bool ConvexSweep(ConvexShape shape, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, CollisionGroup group, ref SRaycastResult outSweepResult)
{
return(ConvexSweep(shape, ref startPos, ref rotation, ref sweep, GetSolidFilter(group), ref outSweepResult));
}
/// <summary>
/// Sweeps a convex shape against the physics world reporting the closest hit to the start location, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="shape">Shape to sweep</param>
/// <param name="startPos">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweep">Direction in which to sweep, the length of the vector is the length of the sweep</param>
/// <param name="sweepRules">Collision rules to filter the sweep hits, anything above "Normal" is ignored</param>
/// <param name="outSweepResult">Closest hit to the start location</param>
/// <returns>True if any object was hit</returns>
public bool ConvexSweep(ConvexShape shape, ref SharpDX.Vector3 startPos, ref SharpDX.Quaternion rotation, ref SharpDX.Vector3 sweep, CollisionRules sweepRules, ref SRaycastResult outSweepResult)
{
SimpleCollisionRulesOwner rulesOwner = new SimpleCollisionRulesOwner(sweepRules);
return(ConvexSweep(shape, ref startPos, ref rotation, ref sweep, GetSolidFilter(rulesOwner), ref outSweepResult));
}
/// <summary>
/// Sweeps a convex shape against the physics world reporting the closest hit to the start location, beware convex sweeps can be very costly especially if they are long
/// </summary>
/// <param name="shape">Shape to sweep</param>
/// <param name="startPosition">Location to start the sweep from</param>
/// <param name="rotation">Rotation of the shape during the sweep</param>
/// <param name="sweepDir">Direction in which to sweep</param>
/// <param name="length">Length of the sweep</param>
/// <param name="outSweepResult">Closest hit to the start location</param>
/// <returns>True if any object was hit</returns>
public bool ConvexSweep(ConvexShape shape, SharpDX.Vector3 startPosition, SharpDX.Quaternion rotation, SharpDX.Vector3 sweepDir, float length, ref SRaycastResult outSweepResult)
{
SharpDX.Vector3 sweep = sweepDir * length;
return(ConvexSweep(shape, ref startPosition, ref rotation, ref sweep, ref outSweepResult));
}
