/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayRequest req)
{
// limit ray length or collisions will take all avaiable stack space
float len = req.length;
if (len > 100f)
{
len = 100f;
}
// Create the ray
IntPtr ray = SafeNativeMethods.CreateRay(m_scene.space, len);
SafeNativeMethods.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
SafeNativeMethods.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
SafeNativeMethods.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
// Return results
if (req.callbackMethod != null)
{
req.callbackMethod(m_contactResults);
}
}
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="count"></param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
lock (m_PendingRequests)
{
ODERayRequest req = new ODERayRequest();
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRayRequests.Add(req);
}
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
// Return results
if (req.callbackMethod != null)
{
req.callbackMethod(m_contactResults);
}
}
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
// Return results
if (req.callbackMethod != null)
req.callbackMethod(m_contactResults);
}
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="count"></param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
lock (m_PendingRequests)
{
ODERayRequest req = new ODERayRequest();
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRayRequests.Add(req);
}
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayRequest req)
{
// limit ray length or collisions will take all avaiable stack space
float len = req.length;
if (len > 100f)
len = 100f;
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, len);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
// Return results
if (req.callbackMethod != null)
req.callbackMethod(m_contactResults);
}
}
