/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="result">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform,
ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, out RayCastResult result)
{
RawList <Collidable> outputOverlappedElements = PhysicsResources.GetCollidableList();
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
CollidableTree.GetOverlaps(boundingBox, outputOverlappedElements);
result = new RayCastResult();
result.HitData.T = float.MaxValue;
for (int i = 0; i < outputOverlappedElements.Count; ++i)
{
RayHit hit;
if (outputOverlappedElements.Elements[i]
.ConvexCast(castShape, ref startingTransform, ref sweep, filter, out hit))
{
if (hit.T < result.HitData.T)
{
result.HitData = hit;
result.HitObject = outputOverlappedElements.Elements[i];
}
}
}
PhysicsResources.GiveBack(outputOverlappedElements);
return(result.HitData.T < float.MaxValue);
}
///<summary>
/// Constructs a new entry with identity orientation.
///</summary>
///<param name="shape">Shape of the entry.</param>
public OrientedConvexShapeEntry(ConvexShape shape)
{
Orientation = Quaternion.Identity;
CollisionShape = shape;
}
///<summary>
/// Constructs a new entry.
///</summary>
///<param name="orientation">Orientation of the entry.</param>
///<param name="shape">Shape of the entry.</param>
public OrientedConvexShapeEntry(Quaternion orientation, ConvexShape shape)
{
Orientation = orientation;
CollisionShape = shape;
}
///<summary>
/// Constructs a convex shape entry with identity transformation.
///</summary>
///<param name="shape">Shape of the entry.</param>
public ConvexShapeEntry(ConvexShape shape)
{
Transform = RigidTransform.Identity;
CollisionShape = shape;
}
/// <summary>
/// Constructs a convex shape entry.
/// </summary>
/// <param name="transform">Local transform of the entry.</param>
/// <param name="shape">Shape of the entry.</param>
public ConvexShapeEntry(RigidTransform transform, ConvexShape shape)
{
Transform = transform;
CollisionShape = shape;
}
/// <summary>
/// Constructs a convex shape entry.
/// </summary>
/// <param name="orientation">Local orientation of the entry.</param>
/// <param name="shape">Shape of the entry.</param>
public ConvexShapeEntry(Quaternion orientation, ConvexShape shape)
{
Transform = new RigidTransform(orientation);
CollisionShape = shape;
}
/// <summary>
/// Constructs a convex shape entry.
/// </summary>
/// <param name="position">Local position of the entry.</param>
/// <param name="shape">Shape of the entry.</param>
public ConvexShapeEntry(Vector3 position, ConvexShape shape)
{
Transform = new RigidTransform(position);
CollisionShape = shape;
}