public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected)
{
this.FHit.SliceCount = SpreadMax;
this.FHitCount.SliceCount = SpreadMax;
List <double> fraction = new List <double>();
List <Vector3D> position = new List <Vector3D>();
List <Vector3D> normal = new List <Vector3D>();
List <RigidBody> body = new List <RigidBody>();
List <int> bodyid = new List <int>();
List <int> qidx = new List <int>();
for (int i = 0; i < SpreadMax; i++)
{
Vector3 from = this.FFrom[i].ToBulletVector();
Vector3 to = this.FTo[i].ToBulletVector();
if (cb == null)
{
cb = new CollisionWorld.AllHitsRayResultCallback(from, to);
}
cb.HitFractions.Clear();
cb.HitNormalWorld.Clear();
cb.HitPointWorld.Clear();
cb.CollisionObjects.Clear();
this.FWorld[0].World.RayTest(from, to, cb);
if (cb.HasHit)
{
this.FHitCount[i] = cb.HitFractions.Count;
float minfrac = float.MaxValue;
RigidBody closest = null;
int minidx = 0;
for (int h = 0; h < cb.HitFractions.Count; h++)
{
RigidBody rb = (RigidBody)cb.CollisionObjects[h];
if (cb.HitFractions[h] < minfrac && !this.FExcludedBody.Contains(rb))
{
closest = rb;
minidx = h;
}
}
if (closest != null)
{
this.FHit[i] = true;
BodyCustomData bd = (BodyCustomData)closest.UserObject;
fraction.Add(cb.HitFractions[minidx]);
position.Add(cb.HitPointWorld[minidx].ToVVVVector());
normal.Add(cb.HitNormalWorld[minidx].ToVVVVector());
body.Add(closest);
bodyid.Add(bd.Id);
qidx.Add(i);
}
else
{
this.FHit[i] = false;
}
}
else
{
this.FHit[i] = false;
this.FHitCount[i] = 0;
}
}
this.FId.AssignFrom(bodyid);
this.FHitFraction.AssignFrom(fraction);
this.FHitNormal.AssignFrom(normal);
this.FHitPosition.AssignFrom(position);
this.FQueryIndex.AssignFrom(qidx);
this.FBody.AssignFrom(body);
}
else
{
this.FHit.SliceCount = 0;
this.FId.SliceCount = 0;
this.FHitFraction.SliceCount = 0;
this.FHitPosition.SliceCount = 0;
this.FHitCount.SliceCount = 0;
}
}
/// <summary>
/// レイキャスト
/// </summary>
/// <param name="start">開始地点（ワールド座標）</param>
/// <param name="end">終了地点（ワールド座標）</param>
/// <param name="collideWith">コリジョン対象のビット列</param>
/// <returns></returns>
public IEnumerable<RaycastResult> RayCast(Vector3 start, Vector3 end, int collideWith = -1)
{
var from = new BulletSharp.Vector3 (start.X, start.Y, start.Z);
var to = new BulletSharp.Vector3 (end.X, end.Y, end.Z);
using (var result = new CollisionWorld.AllHitsRayResultCallback (from, to)) {
result.CollisionFilterMask = (CollisionFilterGroups)collideWith;
// BulletPhysics のレイキャスト
wld.RayTest (from, to, result);
if (!result.HasHit) {
return new RaycastResult[0];
}
var n = result.HitFractions.Count ();
var results = new RaycastResult[n];
for (var i = 0; i < n; i++) {
var frac = result.HitFractions[i];
var dist = frac * (start - end).Length;
var node = ((CollisionObject)result.CollisionObjects[i].UserObject).Node;
var point = result.HitPointWorld[i].ToDD ();
var normal = result.HitNormalWorld[i].ToDD();
results[i] = new RaycastResult (frac, dist, node, point, normal);
}
return results.OrderBy (x => x.Fraction);
}
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected)
{
this.FHit.SliceCount = SpreadMax;
this.FHitCount.SliceCount = SpreadMax;
List<double> fraction = new List<double>();
List<Vector3D> position = new List<Vector3D>();
List<Vector3D> normal = new List<Vector3D>();
List<RigidBody> body = new List<RigidBody>();
List<int> bodyid = new List<int>();
List<int> qidx = new List<int>();
for (int i = 0; i < SpreadMax; i++)
{
Vector3 from = this.FFrom[i].ToBulletVector();
Vector3 to = this.FTo[i].ToBulletVector();
if (cb == null)
{
cb = new CollisionWorld.AllHitsRayResultCallback(from, to);
}
cb.HitFractions.Clear();
cb.HitNormalWorld.Clear();
cb.HitPointWorld.Clear();
cb.CollisionObjects.Clear();
this.FWorld[0].World.RayTest(from, to, cb);
if (cb.HasHit)
{
this.FHitCount[i] = cb.HitFractions.Count;
float minfrac = float.MaxValue;
RigidBody closest = null;
int minidx = 0;
for (int h = 0; h < cb.HitFractions.Count; h++ )
{
RigidBody rb = (RigidBody)cb.CollisionObjects[h];
if (cb.HitFractions[h] < minfrac && !this.FExcludedBody.Contains(rb))
{
closest = rb;
minidx = h;
}
}
if (closest != null)
{
this.FHit[i] = true;
BodyCustomData bd = (BodyCustomData)closest.UserObject;
fraction.Add(cb.HitFractions[minidx]);
position.Add(cb.HitPointWorld[minidx].ToVVVVector());
normal.Add(cb.HitNormalWorld[minidx].ToVVVVector());
body.Add(closest);
bodyid.Add(bd.Id);
qidx.Add(i);
}
else
{
this.FHit[i] = false;
}
}
else
{
this.FHit[i] = false;
this.FHitCount[i] = 0;
}
}
this.FId.AssignFrom(bodyid);
this.FHitFraction.AssignFrom(fraction);
this.FHitNormal.AssignFrom(normal);
this.FHitPosition.AssignFrom(position);
this.FQueryIndex.AssignFrom(qidx);
this.FBody.AssignFrom(body);
}
else
{
this.FHit.SliceCount = 0;
this.FId.SliceCount = 0;
this.FHitFraction.SliceCount = 0;
this.FHitPosition.SliceCount = 0;
this.FHitCount.SliceCount = 0;
}
}
