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 virtual void MouseFunc(ref MouseState oldMouseState, ref MouseState newMouseState)
{
IndexedVector3 rayTo = GetRayTo(newMouseState.X, newMouseState.Y);
if (WasReleased(ref oldMouseState,ref newMouseState,2))
{
ShootBox(rayTo);
}
else if (WasReleased(ref oldMouseState,ref newMouseState,1))
{
//apply an impulse
if (m_dynamicsWorld != null)
{
ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(new IndexedVector3(m_cameraPosition), rayTo);
IndexedVector3 ivPos = new IndexedVector3(m_cameraPosition);
IndexedVector3 ivTo = new IndexedVector3(rayTo);
m_dynamicsWorld.RayTest(ref ivPos,ref ivTo, rayCallback);
if (rayCallback.HasHit())
{
RigidBody body = RigidBody.Upcast(rayCallback.m_collisionObject);
if (body != null)
{
body.SetActivationState(ActivationState.ACTIVE_TAG);
IndexedVector3 impulse = rayTo;
impulse.Normalize();
float impulseStrength = 10f;
impulse *= impulseStrength;
IndexedVector3 relPos = rayCallback.m_hitPointWorld - body.GetCenterOfMassPosition();
body.ApplyImpulse(ref impulse, ref relPos);
}
}
}
}
else if (newMouseState.LeftButton == ButtonState.Pressed)
{
//add a point to point constraint for picking
if (m_dynamicsWorld != null)
{
IndexedVector3 rayFrom;
if (m_ortho)
{
rayFrom = rayTo;
rayFrom.Z = -100.0f;
}
else
{
rayFrom = new IndexedVector3(m_cameraPosition);
}
ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo);
IndexedVector3 ivPos = new IndexedVector3(m_cameraPosition);
IndexedVector3 ivTo = new IndexedVector3(rayTo);
m_dynamicsWorld.RayTest(ref ivPos, ref ivTo, rayCallback);
if (rayCallback.HasHit())
{
RigidBody body = RigidBody.Upcast(rayCallback.m_collisionObject);
if (body != null)
{
//other exclusions?
if (!(body.IsStaticObject() || body.IsKinematicObject()))
{
pickedBody = body;
pickedBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 pickPos = rayCallback.m_hitPointWorld;
IndexedVector3 localPivot = body.GetCenterOfMassTransform().Inverse() * pickPos;
if (use6Dof)
{
IndexedMatrix tr = IndexedMatrix.Identity;
tr._origin = localPivot;
Generic6DofConstraint dof6 = new Generic6DofConstraint(body, ref tr, false);
dof6.SetLinearLowerLimit(new IndexedVector3(0, 0, 0));
dof6.SetLinearUpperLimit(new IndexedVector3(0, 0, 0));
dof6.SetAngularLowerLimit(new IndexedVector3(0, 0, 0));
dof6.SetAngularUpperLimit(new IndexedVector3(0, 0, 0));
m_dynamicsWorld.AddConstraint(dof6);
m_pickConstraint = dof6;
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_CFM, 0.8f, 0);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_CFM, 0.8f, 1);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_CFM, 0.8f, 2);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_CFM, 0.8f, 3);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_CFM, 0.8f, 4);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_CFM, 0.8f, 5);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_ERP, 0.1f, 0);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_ERP, 0.1f, 1);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_ERP, 0.1f, 2);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_ERP, 0.1f, 3);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_ERP, 0.1f, 4);
dof6.SetParam(ConstraintParams.BT_CONSTRAINT_STOP_ERP, 0.1f, 5);
}
else
{
Point2PointConstraint p2p = new Point2PointConstraint(body, ref localPivot);
m_dynamicsWorld.AddConstraint(p2p, false);
p2p.m_setting.m_impulseClamp = mousePickClamping;
p2p.m_setting.m_tau = 0.001f;
if (m_pickConstraint != null)
{
int ibreak = 0;
}
m_pickConstraint = p2p;
}
//save mouse position for dragging
gOldPickingPos = rayTo;
gHitPos = pickPos;
gOldPickingDist = (pickPos - rayFrom).Length();
//very weak constraint for picking
}
}
}
}
}
else if (WasReleased(ref oldMouseState,ref newMouseState,0))
{
if (m_pickConstraint != null && m_dynamicsWorld != null)
{
m_dynamicsWorld.RemoveConstraint(m_pickConstraint);
m_pickConstraint = null;
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = null;
pickedBody.ForceActivationState(ActivationState.ACTIVE_TAG);
pickedBody.SetDeactivationTime(0f);
pickedBody = null;
}
}
}
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
}
