/// <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 = (Collider)rcb.HitCollisionObject.UserObject;
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
}
return(result);
}
private static ColliderShape Compose(IReadOnlyList <IColliderShapeDesc> descs)
{
ColliderShape res = null;
try
{
if (descs.Count == 1) //single shape case
{
res = CreateShape(descs[0]);
}
else if (descs.Count > 1) //need a compound shape in this case
{
var compound = new CompoundColliderShape();
foreach (var desc in descs)
{
compound.AddChildShape(CreateShape(desc));
}
res = compound;
}
}
catch (DllNotFoundException)
{
//during pre process and build process we often don't have the physics native engine running.
}
return(res);
}
internal void DeriveBonePhysicsTransformation(out Matrix derivedTransformation)
{
Quaternion rotation;
Vector3 translation;
//derive rotation and translation, scale is ignored for now
Vector3 scale;
BoneWorldMatrix.Decompose(out scale, out rotation, out translation);
derivedTransformation = Matrix.RotationQuaternion(rotation) * Matrix.Translation(translation);
//handle dynamic scaling if allowed (aka not using assets)
if (CanScaleShape)
{
if (scale != ColliderShape.Scaling)
{
ColliderShape.Scaling = scale;
ColliderShape.UpdateLocalTransformations();
}
}
//Handle collider shape offset
if (ColliderShape.LocalOffset != Vector3.Zero || ColliderShape.LocalRotation != Quaternion.Identity)
{
derivedTransformation = Matrix.Multiply(ColliderShape.PositiveCenterMatrix, derivedTransformation);
}
}
public void ComposeShape()
{
ColliderShapeChanged = false;
if (ColliderShape != null)
{
if (!ColliderShape.IsPartOfAsset)
{
ColliderShape.Dispose();
ColliderShape = null;
}
else
{
ColliderShape = null;
}
}
CanScaleShape = true;
if (ColliderShapes.Count == 1) //single shape case
{
if (ColliderShapes[0] == null)
{
return;
}
if (ColliderShapes[0].GetType() == typeof(ColliderShapeAssetDesc))
{
CanScaleShape = false;
}
ColliderShape = PhysicsColliderShape.CreateShape(ColliderShapes[0]);
ColliderShape?.UpdateLocalTransformations();
}
else if (ColliderShapes.Count > 1) //need a compound shape in this case
{
var compound = new CompoundColliderShape();
foreach (var desc in ColliderShapes)
{
if (desc == null)
{
continue;
}
if (desc.GetType() == typeof(ColliderShapeAssetDesc))
{
CanScaleShape = false;
}
var subShape = PhysicsColliderShape.CreateShape(desc);
if (subShape != null)
{
compound.AddChildShape(subShape);
}
}
ColliderShape = compound;
ColliderShape.UpdateLocalTransformations();
}
}
/// <summary>
/// Creates the rigid body.
/// </summary>
/// <param name="collider">The collider.</param>
/// <returns></returns>
public static RigidBody CreateRigidBody(ColliderShape collider)
{
var rb = new RigidBody(collider);
rb.InternalRigidBody = new BulletSharp.RigidBody(0.0f, rb.MotionState, collider.InternalShape, Vector3.Zero);
rb.InternalRigidBody.CollisionFlags |= BulletSharp.CollisionFlags.StaticObject; //already set if mass is 0 actually!
rb.InternalCollider = rb.InternalRigidBody;
rb.InternalCollider.ContactProcessingThreshold = 1e18f;
if (collider.NeedsCustomCollisionCallback)
{
rb.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (collider.Is2D) //set different defaults for 2D shapes
{
rb.InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
rb.InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
rb.InternalRigidBody.UserObject = rb;
return(rb);
}
/// <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 = (Collider)rcb.CollisionObjects[i].UserObject,
Normal = rcb.HitNormalWorld[i],
Point = rcb.HitPointWorld[i]
};
result.Add(singleResult);
}
}
return(result);
}
/// <summary>
/// Creates the character.
/// </summary>
/// <param name="collider">The collider.</param>
/// <param name="stepHeight">Height of the step.</param>
/// <returns></returns>
public static Character CreateCharacter(ColliderShape collider, float stepHeight)
{
var ch = new Character(collider)
{
InternalCollider = new BulletSharp.PairCachingGhostObject
{
CollisionShape = collider.InternalShape
}
};
ch.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CharacterObject;
if (collider.NeedsCustomCollisionCallback)
{
ch.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
ch.InternalCollider.ContactProcessingThreshold = 1e18f;
ch.KinematicCharacter = new BulletSharp.KinematicCharacterController((BulletSharp.PairCachingGhostObject)ch.InternalCollider, (BulletSharp.ConvexShape)collider.InternalShape, stepHeight);
ch.InternalCollider.UserObject = ch;
return(ch);
}
/// <summary>
/// Removes a child shape.
/// </summary>
/// <param name="shape">The shape.</param>
public void RemoveChildShape(ColliderShape shape)
{
colliderShapes.Remove(shape);
InternalCompoundShape.RemoveChildShape(shape.InternalShape);
shape.Parent = null;
}
/// <summary>
/// Adds a child shape.
/// </summary>
/// <param name="shape">The shape.</param>
public void AddChildShape(ColliderShape shape)
{
colliderShapes.Add(shape);
InternalCompoundShape.AddChildShape(shape.PositiveCenterMatrix, shape.InternalShape);
shape.Parent = this;
}
/// <summary>
/// Removes a child shape.
/// </summary>
/// <param name="shape">The shape.</param>
public void RemoveChildShape(ColliderShape shape)
{
colliderShapes.Remove(shape);
InternalCompoundShape.RemoveChildShape(shape.InternalShape);
shape.Parent = null;
}
/// <summary>
/// Adds a child shape.
/// </summary>
/// <param name="shape">The shape.</param>
public void AddChildShape(ColliderShape shape)
{
colliderShapes.Add(shape);
InternalCompoundShape.AddChildShape(shape.PositiveCenterMatrix, shape.InternalShape);
shape.Parent = this;
}
public void Dispose()
{
if (Shape == null)
{
return;
}
Shape.Dispose();
Shape = null;
}
/// <summary>
/// Initializes a new instance of the <see cref="Collider"/> class.
/// </summary>
/// <param name="collider">The collider.</param>
public Collider(ColliderShape collider)
{
ProtectedColliderShape = collider;
FirstCollisionChannel = new Channel<Collision> { Preference = ChannelPreference.PreferSender };
NewPairChannel = new Channel<Collision> { Preference = ChannelPreference.PreferSender };
PairEndedChannel = new Channel<Collision> { Preference = ChannelPreference.PreferSender };
AllPairsEndedChannel = new Channel<Collision> { Preference = ChannelPreference.PreferSender };
}
public void Dispose()
{
if (Shape == null)
{
return;
}
var compound = Shape.Parent;
compound?.RemoveChildShape(Shape);
Shape.Dispose();
Shape = null;
}
/// <summary>
/// Initializes a new instance of the <see cref="Collider"/> class.
/// </summary>
/// <param name="collider">The collider.</param>
public Collider(ColliderShape collider)
{
ProtectedColliderShape = collider;
FirstCollisionChannel = new Channel <Collision> {
Preference = ChannelPreference.PreferSender
};
NewPairChannel = new Channel <Collision> {
Preference = ChannelPreference.PreferSender
};
PairEndedChannel = new Channel <Collision> {
Preference = ChannelPreference.PreferSender
};
AllPairsEndedChannel = new Channel <Collision> {
Preference = ChannelPreference.PreferSender
};
}
/// <summary>
/// Creates the collider.
/// </summary>
/// <param name="shape">The shape.</param>
/// <returns></returns>
public Collider CreateCollider(ColliderShape shape)
{
var collider = new Collider(shape)
{
InternalCollider = new BulletSharp.CollisionObject
{
CollisionShape = shape.InternalShape,
ContactProcessingThreshold = !canCcd ? 1e18f : 1e30f
}
};
collider.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.NoContactResponse;
if (shape.NeedsCustomCollisionCallback)
{
collider.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
return(collider);
}
internal static ColliderShape Compose(IReadOnlyList <IAssetColliderShapeDesc> descs)
{
ColliderShape res = null;
if (descs.Count == 1) //single shape case
{
res = CreateShape(descs[0]);
res.IsPartOfAsset = true;
}
else if (descs.Count > 1) //need a compound shape in this case
{
var compound = new CompoundColliderShape();
foreach (var desc in descs)
{
compound.AddChildShape(CreateShape(desc));
}
res = compound;
res.IsPartOfAsset = true;
}
return(res);
}
public ColliderShape CreateShape(IInlineColliderShapeDesc desc)
{
ColliderShape shape = null;
var shapeType = desc.GetType();
if (shapeType == typeof(BoxColliderShapeDesc))
{
var boxDesc = (BoxColliderShapeDesc)desc;
if (boxDesc.Is2D)
{
shape = new Box2DColliderShape(new Vector2(boxDesc.Size.X, boxDesc.Size.Y))
{
LocalOffset = boxDesc.LocalOffset, LocalRotation = boxDesc.LocalRotation
};
}
else
{
shape = new BoxColliderShape(boxDesc.Size)
{
LocalOffset = boxDesc.LocalOffset, LocalRotation = boxDesc.LocalRotation
};
}
}
else if (shapeType == typeof(CapsuleColliderShapeDesc))
{
var capsuleDesc = (CapsuleColliderShapeDesc)desc;
shape = new CapsuleColliderShape(capsuleDesc.Is2D, capsuleDesc.Radius, capsuleDesc.Length, capsuleDesc.Orientation)
{
LocalOffset = capsuleDesc.LocalOffset, LocalRotation = capsuleDesc.LocalRotation
};
}
else if (shapeType == typeof(CylinderColliderShapeDesc))
{
var cylinderDesc = (CylinderColliderShapeDesc)desc;
shape = new CylinderColliderShape(cylinderDesc.Height, cylinderDesc.Radius, cylinderDesc.Orientation)
{
LocalOffset = cylinderDesc.LocalOffset, LocalRotation = cylinderDesc.LocalRotation
};
}
else if (shapeType == typeof(SphereColliderShapeDesc))
{
var sphereDesc = (SphereColliderShapeDesc)desc;
shape = new SphereColliderShape(sphereDesc.Is2D, sphereDesc.Radius)
{
LocalOffset = sphereDesc.LocalOffset
};
}
else if (shapeType == typeof(StaticPlaneColliderShapeDesc))
{
var planeDesc = (StaticPlaneColliderShapeDesc)desc;
shape = new StaticPlaneColliderShape(planeDesc.Normal, planeDesc.Offset);
}
else if (shapeType == typeof(ColliderShapeAssetDesc))
{
var assetDesc = (ColliderShapeAssetDesc)desc;
if (assetDesc.Shape == null)
{
return(null);
}
if (assetDesc.Shape.Shape == null)
{
assetDesc.Shape.Shape = PhysicsColliderShape.Compose(assetDesc.Shape.Descriptions);
}
shape = assetDesc.Shape.Shape;
}
if (shape != null)
{
shape.Parent = null; //from now parent might change
shape.UpdateLocalTransformations();
}
return(shape);
}
/// <summary>
/// Initializes a new instance of the <see cref="Collider"/> class.
/// </summary>
/// <param name="collider">The collider.</param>
public Collider(ColliderShape collider)
{
ColliderShape = collider;
}
/// <summary>
/// Initializes a new instance of the <see cref="Character"/> class.
/// </summary>
/// <param name="collider">The collider.</param>
internal Character(ColliderShape collider)
: base(collider)
{
}
private static ColliderShape CreateShape(IColliderShapeDesc desc)
{
ColliderShape shape = null;
var type = desc.GetType();
if (type == typeof(Box2DColliderShapeDesc))
{
var boxDesc = (Box2DColliderShapeDesc)desc;
shape = new Box2DColliderShape(boxDesc.HalfExtent)
{
LocalOffset = boxDesc.LocalOffset, LocalRotation = boxDesc.LocalRotation
};
}
else if (type == typeof(BoxColliderShapeDesc))
{
var boxDesc = (BoxColliderShapeDesc)desc;
shape = new BoxColliderShape(boxDesc.HalfExtents)
{
LocalOffset = boxDesc.LocalOffset, LocalRotation = boxDesc.LocalRotation
};
}
else if (type == typeof(CapsuleColliderShapeDesc))
{
var capsuleDesc = (CapsuleColliderShapeDesc)desc;
shape = new CapsuleColliderShape(capsuleDesc.Is2D, capsuleDesc.Radius, capsuleDesc.Height, capsuleDesc.UpAxis)
{
LocalOffset = capsuleDesc.LocalOffset, LocalRotation = capsuleDesc.LocalRotation
};
}
else if (type == typeof(CylinderColliderShapeDesc))
{
var cylinderDesc = (CylinderColliderShapeDesc)desc;
shape = new CylinderColliderShape(cylinderDesc.HalfExtents, cylinderDesc.UpAxis)
{
LocalOffset = cylinderDesc.LocalOffset, LocalRotation = cylinderDesc.LocalRotation
};
}
else if (type == typeof(SphereColliderShapeDesc))
{
var sphereDesc = (SphereColliderShapeDesc)desc;
shape = new SphereColliderShape(sphereDesc.Is2D, sphereDesc.Radius)
{
LocalOffset = sphereDesc.LocalOffset
};
}
else if (type == typeof(StaticPlaneColliderShapeDesc))
{
var planeDesc = (StaticPlaneColliderShapeDesc)desc;
shape = new StaticPlaneColliderShape(planeDesc.Normal, planeDesc.Offset);
}
else if (type == typeof(ConvexHullColliderShapeDesc))
{
var convexDesc = (ConvexHullColliderShapeDesc)desc;
//Optimize performance and focus on less shapes creation since this shape could be nested
if (convexDesc.ConvexHulls.Count == 1)
{
if (convexDesc.ConvexHulls[0].Count == 1)
{
shape = new ConvexHullColliderShape(convexDesc.ConvexHulls[0][0], convexDesc.ConvexHullsIndices[0][0], convexDesc.Scaling)
{
NeedsCustomCollisionCallback = true
};
shape.UpdateLocalTransformations();
shape.Description = desc;
return(shape);
}
if (convexDesc.ConvexHulls[0].Count <= 1)
{
return(null);
}
var subCompound = new CompoundColliderShape
{
NeedsCustomCollisionCallback = true
};
for (var i = 0; i < convexDesc.ConvexHulls[0].Count; i++)
{
var verts = convexDesc.ConvexHulls[0][i];
var indices = convexDesc.ConvexHullsIndices[0][i];
var subHull = new ConvexHullColliderShape(verts, indices, convexDesc.Scaling);
subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
subCompound.UpdateLocalTransformations();
subCompound.Description = desc;
return(subCompound);
}
if (convexDesc.ConvexHulls.Count <= 1)
{
return(null);
}
var compound = new CompoundColliderShape
{
NeedsCustomCollisionCallback = true
};
for (var i = 0; i < convexDesc.ConvexHulls.Count; i++)
{
var verts = convexDesc.ConvexHulls[i];
var indices = convexDesc.ConvexHullsIndices[i];
if (verts.Count == 1)
{
var subHull = new ConvexHullColliderShape(verts[0], indices[0], convexDesc.Scaling);
subHull.UpdateLocalTransformations();
compound.AddChildShape(subHull);
}
else if (verts.Count > 1)
{
var subCompound = new CompoundColliderShape();
for (var b = 0; b < verts.Count; b++)
{
var subVerts = verts[b];
var subIndex = indices[b];
var subHull = new ConvexHullColliderShape(subVerts, subIndex, convexDesc.Scaling);
subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
subCompound.UpdateLocalTransformations();
compound.AddChildShape(subCompound);
}
}
compound.UpdateLocalTransformations();
compound.Description = desc;
return(compound);
}
if (shape != null)
{
shape.UpdateLocalTransformations();
shape.Description = desc;
}
return(shape);
}
public void Dispose()
{
if (Shape == null) return;
Shape.Dispose();
Shape = null;
}
internal RigidBody(ColliderShape collider)
: base(collider)
{
LinkedConstraints = new List <Constraint>();
MotionState = new ParadoxMotionState(this);
}
/// <summary>
/// Initializes a new instance of the <see cref="Collider"/> class.
/// </summary>
/// <param name="collider">The collider.</param>
public Collider(ColliderShape collider)
{
ColliderShape = collider;
}
/// <summary>
/// Creates the character.
/// </summary>
/// <param name="collider">The collider.</param>
/// <param name="stepHeight">Height of the step.</param>
/// <returns></returns>
public Character CreateCharacter(ColliderShape collider, float stepHeight)
{
var ch = new Character(collider)
{
InternalCollider = new BulletSharp.PairCachingGhostObject
{
CollisionShape = collider.InternalShape
}
};
ch.InternalCollider.UserObject = ch;
ch.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CharacterObject;
if (collider.NeedsCustomCollisionCallback)
{
ch.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
ch.InternalCollider.ContactProcessingThreshold = !canCcd ? 1e18f : 1e30f;
ch.KinematicCharacter = new BulletSharp.KinematicCharacterController((BulletSharp.PairCachingGhostObject)ch.InternalCollider, (BulletSharp.ConvexShape)collider.InternalShape, stepHeight);
return ch;
}
/// <summary>
/// Creates the rigid body.
/// </summary>
/// <param name="collider">The collider.</param>
/// <returns></returns>
public RigidBody CreateRigidBody(ColliderShape collider)
{
var rb = new RigidBody(collider);
rb.InternalRigidBody = new BulletSharp.RigidBody(0.0f, rb.MotionState, collider.InternalShape, Vector3.Zero)
{
UserObject = rb
};
rb.InternalCollider = rb.InternalRigidBody;
rb.InternalCollider.ContactProcessingThreshold = !canCcd ? 1e18f : 1e30f;
if (collider.NeedsCustomCollisionCallback)
{
rb.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (collider.Is2D) //set different defaults for 2D shapes
{
rb.InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
rb.InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
return rb;
}
/// <summary>
/// Creates the collider.
/// </summary>
/// <param name="shape">The shape.</param>
/// <returns></returns>
public Collider CreateCollider(ColliderShape shape)
{
var collider = new Collider(shape)
{
InternalCollider = new BulletSharp.CollisionObject
{
CollisionShape = shape.InternalShape,
ContactProcessingThreshold = !canCcd ? 1e18f : 1e30f
}
};
collider.InternalCollider.UserObject = collider;
collider.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.NoContactResponse;
if (shape.NeedsCustomCollisionCallback)
{
collider.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
return collider;
}
/// <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 = (Collider)rcb.CollisionObjects[i].UserObject,
Normal = rcb.HitNormalWorld[i],
Point = rcb.HitPointWorld[i]
};
result.Add(singleResult);
}
}
return result;
}
public void ComposeShape()
{
ColliderShapeChanged = false;
if (ColliderShape != null)
{
if (!ColliderShape.IsPartOfAsset)
{
ColliderShape.Dispose();
ColliderShape = null;
}
else
{
ColliderShape = null;
}
}
try
{
CanScaleShape = true;
if (ColliderShapes.Count == 1) //single shape case
{
if (ColliderShapes[0] != null)
{
if (ColliderShapes[0].GetType() == typeof(ColliderShapeAssetDesc))
{
CanScaleShape = false;
}
ColliderShape = CreateShape(ColliderShapes[0]);
if (ColliderShape == null)
{
return;
}
ColliderShape.UpdateLocalTransformations();
}
}
else if (ColliderShapes.Count > 1) //need a compound shape in this case
{
var compound = new CompoundColliderShape();
foreach (var desc in ColliderShapes)
{
if (desc != null)
{
if (desc.GetType() == typeof(ColliderShapeAssetDesc))
{
CanScaleShape = false;
}
var subShape = CreateShape(desc);
if (subShape != null)
{
compound.AddChildShape(subShape);
}
}
}
ColliderShape = compound;
ColliderShape.UpdateLocalTransformations();
}
}
catch (DllNotFoundException)
{
//during pre process and build process we often don't have the physics native engine running.
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Character"/> class.
/// </summary>
/// <param name="collider">The collider.</param>
internal Character(ColliderShape collider)
: base(collider)
{
}
internal RigidBody(ColliderShape collider)
: base(collider)
{
LinkedConstraints = new List<Constraint>();
MotionState = new ParadoxMotionState(this);
}
public PhysicsColliderShape(ColliderShape shape)
{
Shape = shape;
}
/// <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 = (Collider)rcb.HitCollisionObject.UserObject;
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
}
return result;
}
public void Dispose()
{
if (Shape == null) return;
var compound = Shape.Parent;
compound?.RemoveChildShape(Shape);
Shape.Dispose();
Shape = null;
}