public bool RayCastSingle(Vector3 from, Vector3 to, int filterMask, int filterGroup, ref Vector3 contactPoint, ref Vector3 contactNormal)
{
bool hasHit = false;
BulletSharp.CollisionWorld.ClosestRayResultCallback callback = new BulletSharp.CollisionWorld.ClosestRayResultCallback(from, to);
callback.CollisionFilterGroup = (BulletSharp.CollisionFilterGroups)filterGroup;
callback.CollisionFilterMask = (BulletSharp.CollisionFilterGroups)filterMask;
hasHit = callback.HasHit;
if (hasHit)
{
contactPoint = callback.HitPointWorld;
contactNormal = callback.HitNormalWorld;
}
return(hasHit);
}
public override SegmentInterceptInfo SegmentIntersect(Ray raio, System.Func <IPhysicObject, bool> filter, float maxDistance)
{
BulletSharp.CollisionWorld.ClosestRayResultCallback RayResultCallback = new BulletSharp.CollisionWorld.ClosestRayResultCallback(raio.Position, raio.Direction * maxDistance);
world.RayTest(raio.Position, raio.Direction * maxDistance, RayResultCallback);
if (RayResultCallback.HasHit)
{
SegmentInterceptInfo SegmentInterceptInfo = new SegmentInterceptInfo();
SegmentInterceptInfo.Distance = RayResultCallback.ClosestHitFraction * maxDistance;
SegmentInterceptInfo.PhysicObject = RayResultCallback.CollisionObject.UserObject as IPhysicObject;
SegmentInterceptInfo.ImpactNormal = RayResultCallback.HitNormalWorld;
SegmentInterceptInfo.ImpactPosition = RayResultCallback.HitPointWorld;
return(SegmentInterceptInfo);
}
else
{
return(null);
}
}
private void glControl1_MouseClick_1(object sender, System.Windows.Forms.MouseEventArgs e)
{
if (!gl_loaded) return;
var mouse = new
{
Close = camera.Project(new Vector2(e.X, e.Y), depth: -1),
Far = camera.Project(new Vector2(e.X, e.Y), depth: 1)
};
var callback = new BulletSharp.CollisionWorld.ClosestRayResultCallback(mouse.Close, mouse.Far);
collisionWorld.PerformDiscreteCollisionDetection();
collisionWorld.RayTest(mouse.Close, mouse.Far, callback);
if (callback.HasHit)
{
var clickableInterface = callback.CollisionObject.UserObject as IClickable;
if (clickableInterface != null)
{
clickableInterface.OnMouseClickHandler(this, new MouseEventArgs(camera, new Vector2(e.X, e.Y), callback.CollisionObject.WorldTransform.ExtractTranslation(), e.Button));
}
}
}
public bool RayCastSingle(Vector3 from, Vector3 to, int filterMask, int filterGroup, ref Vector3 contactPoint, ref Vector3 contactNormal)
{
bool hasHit = false;
BulletSharp.CollisionWorld.ClosestRayResultCallback callback = new BulletSharp.CollisionWorld.ClosestRayResultCallback(from, to);
callback.CollisionFilterGroup = (BulletSharp.CollisionFilterGroups)filterGroup;
callback.CollisionFilterMask = (BulletSharp.CollisionFilterGroups)filterMask;
hasHit = callback.HasHit;
if (hasHit)
{
contactPoint = callback.HitPointWorld;
contactNormal = callback.HitNormalWorld;
}
return hasHit;
}
public override SegmentInterceptInfo SegmentIntersect(Ray raio, System.Func<IPhysicObject, bool> filter, float maxDistance)
{
BulletSharp.CollisionWorld.ClosestRayResultCallback RayResultCallback = new BulletSharp.CollisionWorld.ClosestRayResultCallback(raio.Position, raio.Direction * maxDistance);
world.RayTest(raio.Position, raio.Direction * maxDistance, RayResultCallback);
if (RayResultCallback.HasHit)
{
SegmentInterceptInfo SegmentInterceptInfo = new SegmentInterceptInfo();
SegmentInterceptInfo.Distance = RayResultCallback.ClosestHitFraction * maxDistance;
SegmentInterceptInfo.PhysicObject = RayResultCallback.CollisionObject.UserObject as IPhysicObject;
SegmentInterceptInfo.ImpactNormal = RayResultCallback.HitNormalWorld;
SegmentInterceptInfo.ImpactPosition = RayResultCallback.HitPointWorld;
return SegmentInterceptInfo;
}
else
{
return null;
}
}
public void OnMouseDown(object sender, MouseEventArgs e)
{
if (Hidden) return;
var scene = sender as Form1;
if (scene != null && e.Button == MouseButtons.Left)
{
var raycast = new BulletSharp.RaycastInfo();
var callback = new BulletSharp.CollisionWorld.ClosestRayResultCallback(e.MouseRay.Origin, e.MouseRay.Origin + e.MouseRay.Direction * e.MouseRayFarPoint);
var collisionWorld = scene.collisionWorld;
collisionWorld.RayTest(e.MouseRay.Origin, e.MouseRay.Origin + e.MouseRay.Direction * e.MouseRayFarPoint, callback);
if (callback.HasHit)
{
if (callback.CollisionObject == rightContact)
this.selectedAxis = SelectedAxis.U;
else if (callback.CollisionObject == forwardContact)
this.selectedAxis = SelectedAxis.V;
else if (callback.CollisionObject == upContact)
this.selectedAxis = SelectedAxis.W;
else return;
worldRegistrationPosition = callback.HitPointWorld - this.position;
}
}
}
