public static bool CastRay(Vector3D from, Vector3D to, out HitInfo hitInfo, uint raycastCollisionFilter, bool ignoreConvexShape)
{
m_resultWorlds.Clear();
Clusters.CastRay(from, to, m_resultWorlds);
hitInfo = new HitInfo();
foreach (var world in m_resultWorlds)
{
Vector3 fromF = from - world.AABB.Center;
Vector3 toF = to - world.AABB.Center;
m_resultHits.Clear();
HkWorld.HitInfo info = new HkWorld.HitInfo();
bool hit = ((HkWorld)world.UserData).CastRay(fromF, toF, out info, raycastCollisionFilter, ignoreConvexShape);
if (hit)
{
hitInfo.Position = (Vector3D)info.Position + world.AABB.Center;
hitInfo.HkHitInfo = info;
m_resultWorlds.Clear();
return(hit);
}
}
m_resultWorlds.Clear();
return(false);
}
public static HitInfo?CastShapeReturnContactBodyData(Vector3D to, HkShape shape, ref MatrixD transform, uint collisionFilter, float extraPenetration, bool ignoreConvexShape = true)
{
m_resultWorlds.Clear();
Clusters.Intersects(to, m_resultWorlds);
if (m_resultWorlds.Count == 0)
{
return(null);
}
var world = m_resultWorlds[0];
Matrix transformF = transform;
transformF.Translation = (Vector3)(transform.Translation - world.AABB.Center);
Vector3 toF = (Vector3)(to - world.AABB.Center);
HkWorld.HitInfo?result = ((HkWorld)world.UserData).CastShapeReturnContactBodyData(toF, shape, ref transformF, collisionFilter, extraPenetration);
if (result == null)
{
return(null);
}
HkWorld.HitInfo cpd = result.Value;
HitInfo hitInfo = new HitInfo(cpd, cpd.Position + world.AABB.Center);
return(hitInfo);
}
public static float GetConvexRadius(this HkWorld.HitInfo hitInfo)
{
foreach (var shape in hitInfo.Body.GetShape().GetAllShapes())
{
if (shape.IsConvex)
{
return(shape.ConvexRadius);
}
}
return(0);
}
public static float GetConvexRadius(this HkWorld.HitInfo hitInfo)
{
if (hitInfo.Body == null)
{
return(0);
}
HkShape shape = hitInfo.Body.GetShape();
for (int i = 0; i < HkWorld.HitInfo.ShapeKeyCount; i++)
{
var shapeKey = hitInfo.GetShapeKey(i);
if (HkShape.InvalidShapeKey != shapeKey)
{
if (!shape.IsContainer())
{
break;
}
//shape = shape.GetContainer().GetShape(shapeKey);
}
else
{
break;
}
}
if (shape.ShapeType == HkShapeType.ConvexTransform || shape.ShapeType == HkShapeType.ConvexTranslate || shape.ShapeType == HkShapeType.Transform)
{
shape = shape.GetContainer().GetShape(0);
}
if (shape.ShapeType == HkShapeType.Sphere || shape.ShapeType == HkShapeType.Capsule)
{
return(0);
}
if (!shape.IsConvex)
{
return(HkConvexShape.DefaultConvexRadius);
}
return(shape.ConvexRadius);
}
public static bool CastShapeReturnContactBodyDatas(Vector3D to, HkShape shape, ref MatrixD transform, uint collisionFilter, float extraPenetration, List <HitInfo> result, bool ignoreConvexShape = true)
{
m_resultWorlds.Clear();
Clusters.Intersects(to, m_resultWorlds);
if (m_resultWorlds.Count == 0)
{
return(false);
}
var world = m_resultWorlds[0];
Matrix transformF = transform;
transformF.Translation = (Vector3)(transform.Translation - world.AABB.Center);
Vector3 toF = (Vector3)(to - world.AABB.Center);
m_resultShapeCasts.Clear();
if (((HkWorld)world.UserData).CastShapeReturnContactBodyDatas(toF, shape, ref transformF, collisionFilter, extraPenetration, m_resultShapeCasts))
{
foreach (var res in m_resultShapeCasts)
{
HkWorld.HitInfo cpd = res.Value;
HitInfo hitInfo = new HitInfo()
{
HkHitInfo = cpd,
Position = cpd.Position + world.AABB.Center
};
result.Add(hitInfo);
}
return(true);
}
return(false);
}
public static bool CastRay(Vector3D from, Vector3D to, out HitInfo hitInfo, uint raycastCollisionFilter, bool ignoreConvexShape)
{
m_resultWorlds.Clear();
Clusters.CastRay(from, to, m_resultWorlds);
hitInfo = new HitInfo();
foreach (var world in m_resultWorlds)
{
Vector3 fromF = from - world.AABB.Center;
Vector3 toF = to - world.AABB.Center;
m_resultHits.Clear();
HkWorld.HitInfo info = new HkWorld.HitInfo();
bool hit = ((HkWorld)world.UserData).CastRay(fromF, toF, out info, raycastCollisionFilter, ignoreConvexShape);
if (hit)
{
hitInfo.Position = (Vector3D)info.Position + world.AABB.Center;
hitInfo.HkHitInfo = info;
m_resultWorlds.Clear();
return hit;
}
}
m_resultWorlds.Clear();
return false;
}
public static IMyEntity GetHitEntity(this HkWorld.HitInfo hitInfo)
{
return(hitInfo.Body.GetEntity(hitInfo.GetShapeKey(0)));
}
public HitInfo(HkWorld.HitInfo hi, Vector3D worldPosition)
{
HkHitInfo = hi;
Position = worldPosition;
}
