private static bool RaycastInternal(World world, RigidBody body, vec3 start, vec3 ray,
out RaycastResults results)
{
JVector jStart = start.ToJVector();
// Note that Jitter's Raycast signature below calls one of its parameters "rayDirection", but that vector
// isn't meant to be normalized (meaning that it's actually just a ray from start to end).
JVector jDirection = ray.ToJVector();
JVector normal;
JVector[] triangle;
var system = world.CollisionSystem;
float fraction;
bool success = body != null
? system.Raycast(body, jStart, jDirection, out normal, out fraction, out triangle)
: system.Raycast(jStart, jDirection, (b, n, f) => true, out body, out normal,
out fraction, out triangle);
if (!success || fraction > 1)
{
results = null;
return(false);
}
vec3[] tVectors = null;
// Triangle will only be set if a triangle mesh was hit.
if (triangle != null)
{
tVectors = new vec3[3];
for (int i = 0; i < 3; i++)
{
tVectors[i] = triangle[i].ToVec3();
}
}
results = new RaycastResults(body, start + jDirection.ToVec3() * fraction,
Utilities.Normalize(normal.ToVec3()), tVectors);
return(true);
}
public static bool Raycast(World world, RigidBody body, vec3 start, vec3 end, out RaycastResults results)
{
return(RaycastInternal(world, body, start, end - start, out results));
}
public static bool Raycast(World world, RigidBody body, vec3 start, vec3 direction, float range,
out RaycastResults results)
{
return(RaycastInternal(world, body, start, direction * range, out results));
}
public static bool Raycast(World world, vec3 start, vec3 end, out RaycastResults results)
{
return(RaycastInternal(world, null, start, end - start, out results));
}
