public List <int> CollectRay(Ray ray, float d)
{
#if VALIDATE
if (tested == null)
{
tested = new bool[Triangles.Length];
MarkTriangles(0);
for (int i = 0, n = tested.Length; i != n; ++i)
{
Debug.Assert(tested[i]);
}
}
#endif
ReturnTriangles.Clear();
float dd = d;
#if DEBUG
trisTested.Clear();
nodesTested.Clear();
#endif
if (Bounds.Intersects(ref ray, ref dd))
{
RayTester rt = new RayTester();
rt.collRay = ray;
rt.collRayD = d;
TraverseNode(0, ref Bounds, rt);
}
return(ReturnTriangles);
}
public static void rayTestSingleInternal( ref btTransform rayFromTrans, ref btTransform rayToTrans,
btCollisionShape collisionShape,
btCollisionObject collisionObject,
ref btTransform useTransform,
RayResultCallback resultCallback )
{
btSphereShape pointShape = BulletGlobals.SphereShapePool.Get();
pointShape.Initialize( btScalar.BT_ZERO );
pointShape.setMargin( 0f );
btConvexShape castShape = pointShape;
//btCollisionShape collisionShape = collisionObjectWrap.getCollisionShape();
btTransform colObjWorldTransform = useTransform;// collisionObjectWrap.m_worldTransform;
if( collisionShape.isConvex() )
{
// CProfileSample sample = new CProfileSample("rayTestConvex");
btConvexCast.CastResult castResult = new btConvexCast.CastResult();
castResult.m_fraction = resultCallback.m_closestHitFraction;
btConvexShape convexShape = (btConvexShape)collisionShape;
btVoronoiSimplexSolver simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
//new btVoronoiSimplexSolver();
btSubsimplexConvexCast subSimplexConvexCaster = BulletGlobals.SubSimplexConvexCastPool.Get();
subSimplexConvexCaster.Initialize( castShape, convexShape, simplexSolver );
btGjkConvexCast gjkConvexCaster = BulletGlobals.GjkConvexCastPool.Get();
gjkConvexCaster.Initialize( castShape, convexShape, simplexSolver );
BulletGlobals.SubSimplexConvexCastPool.Free( subSimplexConvexCaster );
BulletGlobals.VoronoiSimplexSolverPool.Free( simplexSolver );
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
btConvexCast convexCasterPtr = null;
//use kF_UseSubSimplexConvexCastRaytest by default
if( ( resultCallback.m_flags & (uint)btTriangleRaycastCallback.EFlags.kF_UseGjkConvexCastRaytest ) != 0 )
convexCasterPtr = gjkConvexCaster;
else
convexCasterPtr = subSimplexConvexCaster;
btConvexCast convexCaster = convexCasterPtr;
if( convexCaster.calcTimeOfImpact( ref rayFromTrans, ref rayToTrans
, ref useTransform/*collisionObjectWrap.m_worldTransform*/
, ref useTransform/*collisionObjectWrap.m_worldTransform*/
, castResult ) )
{
//add hit
if( castResult.m_normal.length2() > (double)( 0.0001 ) )
{
if( castResult.m_fraction < resultCallback.m_closestHitFraction )
{
//todo: figure out what this is about. When is rayFromTest.getBasis() not identity?
#if USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
LocalRayResult localRayResult = new LocalRayResult
(
collisionObject,
null,
castResult.m_normal,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.addSingleResult( localRayResult, normalInWorldSpace );
}
}
}
BulletGlobals.GjkConvexCastPool.Free( gjkConvexCaster );
}
else
{
if( collisionShape.isConcave() )
{
btTransform worldTocollisionObject; colObjWorldTransform.inverse( out worldTocollisionObject );
btVector3 tmp;
rayFromTrans.getOrigin( out tmp );
btVector3 rayFromLocal; worldTocollisionObject.Apply( ref tmp, out rayFromLocal );
rayToTrans.getOrigin( out tmp );
btVector3 rayToLocal; worldTocollisionObject.Apply( ref tmp, out rayToLocal );
// CProfileSample sample = new CProfileSample("rayTestConcave");
#if SUPPORT_TRIANGLE_MESH
if( collisionShape.getShapeType() == BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE )
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape triangleMesh = (btBvhTriangleMeshShape)collisionShape;
BridgeTriangleRaycastCallback rcb( rayFromLocal, rayToLocal,&resultCallback, collisionObjectWrap.getCollisionObject(), triangleMesh, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh.performRaycast( &rcb, rayFromLocal, rayToLocal );
}
else
#endif
{
//generic (slower) case
btConcaveShape concaveShape = (btConcaveShape)collisionShape;
//ConvexCast::CastResult
BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback( ref rayFromLocal, ref rayToLocal, resultCallback
, collisionObject, concaveShape, ref colObjWorldTransform );
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin( ref rayToLocal );
btVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax( ref rayToLocal );
concaveShape.processAllTriangles( rcb, ref rayAabbMinLocal, ref rayAabbMaxLocal );
}
}
else
{
// CProfileSample sample = new CProfileSample("rayTestCompound");
if( collisionShape.isCompound() )
{
btCompoundShape compoundShape = (btCompoundShape)( collisionShape );
btDbvt dbvt = compoundShape.getDynamicAabbTree();
RayTester rayCB = new RayTester(
collisionObject,
compoundShape,
ref colObjWorldTransform,
ref rayFromTrans,
ref rayToTrans,
resultCallback );
#if !DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
if( dbvt != null )
{
btTransform tmp;
colObjWorldTransform.inverseTimes( ref rayFromTrans, out tmp );
btVector3 localRayFrom; tmp.getOrigin( out localRayFrom );
colObjWorldTransform.inverseTimes( ref rayToTrans, out tmp );
btVector3 localRayTo; tmp.getOrigin( out localRayTo );
btDbvt.rayTest( dbvt.m_root, ref localRayFrom, ref localRayTo, rayCB );
}
else
#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
{
for( int i = 0, n = compoundShape.getNumChildShapes(); i < n; ++i )
{
rayCB.Process( i );
}
}
}
}
}
BulletGlobals.SphereShapePool.Free( pointShape );
}
public List<int> CollectRay(Ray ray, float d)
{
#if VALIDATE
if (tested == null)
{
tested = new bool[Triangles.Length];
MarkTriangles(0);
for (int i = 0, n = tested.Length; i != n; ++i)
{
Debug.Assert(tested[i]);
}
}
#endif
ReturnTriangles.Clear();
float dd = d;
#if DEBUG
trisTested.Clear();
nodesTested.Clear();
#endif
if (Bounds.Intersects(ref ray, ref dd))
{
RayTester rt = new RayTester();
rt.collRay = ray;
rt.collRayD = d;
TraverseNode(0, ref Bounds, rt);
}
return ReturnTriangles;
}