public void cast(CollisionWorld cw)
{
#if USE_BT_CLOCK
frame_timer.reset();
#endif //USE_BT_CLOCK
#if BATCH_RAYCASTER
if (gBatchRaycaster == null)
{
return;
}
gBatchRaycaster.clearRays();
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
gBatchRaycaster.addRay(source[i], dest[i]);
}
gBatchRaycaster.performBatchRaycast();
for (int i = 0; i < gBatchRaycaster.getNumRays(); i++)
{
const SpuRaycastTaskWorkUnitOut& outResult = (*gBatchRaycaster)[i];
hit[i].setInterpolate3(source[i], dest[i], outResult.hitFraction);
normal[i] = outResult.hitNormal;
normal[i] = normal[i].Normalize();
}
#else
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
ClosestRayResultCallback cb = new ClosestRayResultCallback(source[i], dest[i]);
cw.RayTest(ref source[i], ref dest[i], cb);
if (cb.HasHit())
{
hit[i] = cb.m_hitPointWorld;
normal[i] = cb.m_hitNormalWorld;
normal[i] = IndexedVector3.Normalize(normal[i]);
}
else
{
hit[i] = dest[i];
normal[i] = new IndexedVector3(1.0f, 0.0f, 0.0f);
}
}
#if USE_BT_CLOCK
ms += frame_timer.getTimeMilliseconds();
#endif //USE_BT_CLOCK
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
float mean_ms = (float)sum_ms / (float)sum_ms_samples;
//printf("%d rays in %d ms %d %d %f\n", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
#endif
}
public virtual Object CastRay(ref IndexedVector3 from, ref IndexedVector3 to, ref VehicleRaycasterResult result)
{
// RayResultCallback& resultCallback;
ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref from, ref to);
m_dynamicsWorld.RayTest(ref from, ref to, rayCallback);
if (rayCallback.HasHit())
{
RigidBody body = RigidBody.Upcast(rayCallback.m_collisionObject);
if (body != null && body.HasContactResponse())
{
result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
result.m_hitNormalInWorld.Normalize();
result.m_distFraction = rayCallback.m_closestHitFraction;
return(body);
}
}
else
{
int ibreak = 0;
ClosestRayResultCallback rayCallback2 = new ClosestRayResultCallback(ref from, ref to);
m_dynamicsWorld.RayTest(ref from, ref to, rayCallback2);
}
rayCallback.Cleanup();
return(null);
}
public bool RayCastSingle(Vector3 from, Vector3 to, int filterMask, int filterGroup, ref Vector3 contactPoint, ref Vector3 contactNormal)
{
bool hasHit = false;
ClosestRayResultCallback callback = new ClosestRayResultCallback(from, to);
callback.m_collisionFilterGroup = (CollisionFilterGroups)filterGroup;
callback.m_collisionFilterMask = (CollisionFilterGroups)filterMask;
hasHit = callback.HasHit();
if (hasHit)
{
contactPoint = callback.m_hitPointWorld;
contactNormal = callback.m_hitPointWorld;
}
return(hasHit);
}
