/// <summary>
/// Pefrorms a sweep test using a collider shape and stops at the first hit
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
/// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
public HitResult ShapeSweep(ColliderShape shape, Matrix from, Matrix to)
{
var sh = shape.InternalShape as BulletSharp.ConvexShape;
if (sh == null)
{
throw new Exception("This kind of shape cannot be used for a ShapeSweep.");
}
var result = new HitResult(); //result.Succeded is false by default
using (var rcb = new BulletSharp.ClosestConvexResultCallback(from.TranslationVector, to.TranslationVector))
{
collisionWorld.ConvexSweepTest(sh, from, to, rcb);
if (rcb.HitCollisionObject == null)
{
return(result);
}
result.Succeeded = true;
result.Collider = aliveColliders[rcb.HitCollisionObject];
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
}
return(result);
}
/// <summary>
/// Pefrorms a sweep test using a collider shape and stops at the first hit
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
/// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
public HitResult ShapeSweep(ColliderShape shape, Matrix from, Matrix to)
{
var sh = shape.InternalShape as BulletSharp.ConvexShape;
if (sh == null)
{
throw new Exception("This kind of shape cannot be used for a ShapeSweep.");
}
var result = new HitResult(); //result.Succeded is false by default
var fullDistance = (to.TranslationVector - from.TranslationVector).LengthSquared();
using (var rcb = new BulletSharp.ClosestConvexResultCallback(from.TranslationVector, to.TranslationVector))
{
collisionWorld.ConvexSweepTest(sh, from, to, rcb);
if (rcb.HitCollisionObject == null)
{
return(result);
}
result.Succeeded = true;
result.Collider = (PhysicsComponent)rcb.HitCollisionObject.UserObject;
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
result.FullLength = fullDistance;
result.StartPoint = from.TranslationVector;
result.NormalizedDistance = -1.0f;
}
return(result);
}
/// <summary>
/// Pefrorms a sweep test using a collider shape and stops at the first hit
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="from">From.</param>
/// <param name="to">To.</param>
/// <returns></returns>
/// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
public HitResult ShapeSweep(ColliderShape shape, Matrix from, Matrix to)
{
var sh = shape.InternalShape as BulletSharp.ConvexShape;
if (sh == null) throw new Exception("This kind of shape cannot be used for a ShapeSweep.");
var result = new HitResult(); //result.Succeded is false by default
using (var rcb = new BulletSharp.ClosestConvexResultCallback(from.TranslationVector, to.TranslationVector))
{
collisionWorld.ConvexSweepTest(sh, from, to, rcb);
if (rcb.HitCollisionObject == null) return result;
result.Succeeded = true;
result.Collider = (PhysicsComponent)rcb.HitCollisionObject.UserObject;
result.Normal = rcb.HitNormalWorld;
result.Point = rcb.HitPointWorld;
}
return result;
}
