public SweepResult Sweep(ConvexShape Shape, Vector3 From, Vector3 To)
{
ClosestConvexResult.ClosestHitFraction = 1.0f;
ClosestConvexResult.ConvexFromWorld = From;
ClosestConvexResult.ConvexToWorld = To;
World.ConvexSweepTest(Shape, Matrix4x4.CreateTranslation(From), Matrix4x4.CreateTranslation(To), ClosestConvexResult);
SweepResult Result = new SweepResult();
Result.SweepFrom = From;
Result.HasHit = ClosestConvexResult.HasHit;
Result.Fraction = 1;
Result.HitPoint = Result.HitCenterOfMass = To;
if (ClosestConvexResult.HasHit)
{
Result.Fraction = ClosestConvexResult.ClosestHitFraction;
Result.Normal = Vector3.Normalize(ClosestConvexResult.HitNormalWorld);
Result.HitPoint = ClosestConvexResult.HitPointWorld;
Result.HitCenterOfMass = Vector3.Lerp(From, To, Result.Fraction);
Result.Distance = Vector3.Distance(From, Result.HitCenterOfMass);
}
else
{
Result.Distance = Vector3.Distance(From, To);
}
return(Result);
}