unsafe RayCastResult GetRayCastResultFromNative(NativeRayCastResult *native)
{
RayCastResult result = new RayCastResult();
if (native->shape != IntPtr.Zero)
{
result.Shape = PhysXPhysicsWorld.Instance.GetShapeByNativePointer(native->shape);
result.Position = native->worldImpact;
result.Normal = native->worldNormal;
result.Distance = native->distance;
if (result.Shape.ShapeType == Shape.Type.Mesh)
{
MeshShape meshShape = (MeshShape)result.Shape;
if (meshShape.MeshType != MeshShape.MeshTypes.ConvexHullDecomposition)
{
result.TriangleID = native->faceID;
}
}
else if (result.Shape.ShapeType == Shape.Type.HeightField)
{
result.TriangleID = native->faceID;
}
else
{
result.TriangleID = 0;
}
}
return(result);
}
protected override RayCastResult OnRayCast(Ray ray, int contactGroup)
{
if (float.IsNaN(ray.Origin.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Origin.X)");
}
if (float.IsNaN(ray.Direction.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Direction.X)");
}
if (ray.Direction == Vec3.Zero)
{
return(new RayCastResult());
}
Vec3 normalDir = ray.Direction;
float length = normalDir.Normalize();
Vec3 origin = ray.Origin;
int count = PhysXNativeWrapper.PhysXNativeScene.RayCast(nativeScene, ref origin, ref normalDir, length,
GetContactGroupMask(contactGroup), false);
if (count == 0)
{
return(new RayCastResult());
}
unsafe
{
NativeRayCastResult *results = PhysXNativeScene.GetLastRayCastResults(nativeScene);
NativeRayCastResult *nativeResult = results;
return(GetRayCastResultFromNative(nativeResult));
}
}
unsafe protected override RayCastResult[] OnRayCastPiercing(Ray ray, int contactGroup)
{
if (float.IsNaN(ray.Origin.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Origin.X)");
}
if (float.IsNaN(ray.Direction.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Direction.X)");
}
if (ray.Direction == Vec3.Zero)
{
return(emptyPiercingRayCastResult);
}
Vec3 normalDir = ray.Direction;
float length = normalDir.Normalize();
Vec3 origin = ray.Origin;
int count = PhysXNativeWrapper.PhysXNativeScene.RayCast(nativeScene, ref origin, ref normalDir,
length, GetContactGroupMask(contactGroup), true);
if (count == 0)
{
return(emptyPiercingRayCastResult);
}
NativeRayCastResult *results = PhysXNativeScene.GetLastRayCastResults(nativeScene);
RayCastResult[] items = new RayCastResult[count];
NativeRayCastResult *nativeResult = results;
for (int n = 0; n < count; n++)
{
items[n] = GetRayCastResultFromNative(nativeResult);
nativeResult++;
}
return(items);
}
