/// <summary>
/// Raycasts a single body. NOTE: For performance reasons terrain and trianglemeshshape aren't checked
/// against rays (rays are of infinite length). They are checked against segments
/// which start at rayOrigin and end in rayOrigin + rayDirection.
/// </summary>
#region public override bool Raycast(RigidBody body, JVector rayOrigin, JVector rayDirection, out JVector normal, out double fraction)
public override bool Raycast(RigidBody body, JVector rayOrigin, JVector rayDirection, out JVector normal, out double fraction)
{
fraction = double.MaxValue; normal = JVector.Zero;
if (!body.BoundingBox.RayIntersect(ref rayOrigin, ref rayDirection))
{
return(false);
}
if (body.Shape is Multishape)
{
Multishape ms = (body.Shape as Multishape).RequestWorkingClone();
JVector tempNormal; double tempFraction;
bool multiShapeCollides = false;
JVector transformedOrigin; JVector.Subtract(ref rayOrigin, ref body.position, out transformedOrigin);
JVector.Transform(ref transformedOrigin, ref body.invOrientation, out transformedOrigin);
JVector transformedDirection; JVector.Transform(ref rayDirection, ref body.invOrientation, out transformedDirection);
int msLength = ms.Prepare(ref transformedOrigin, ref transformedDirection);
for (int i = 0; i < msLength; i++)
{
ms.SetCurrentShape(i);
if (GJKCollide.Raycast(ms, ref body.orientation, ref body.invOrientation, ref body.position,
ref rayOrigin, ref rayDirection, out tempFraction, out tempNormal))
{
if (tempFraction < fraction)
{
if (useTerrainNormal && ms is TerrainShape)
{
(ms as TerrainShape).CollisionNormal(out tempNormal);
JVector.Transform(ref tempNormal, ref body.orientation, out tempNormal);
tempNormal.Negate();
}
else if (useTriangleMeshNormal && ms is TriangleMeshShape)
{
(ms as TriangleMeshShape).CollisionNormal(out tempNormal);
JVector.Transform(ref tempNormal, ref body.orientation, out tempNormal);
tempNormal.Negate();
}
normal = tempNormal;
fraction = tempFraction;
multiShapeCollides = true;
}
}
}
ms.ReturnWorkingClone();
return(multiShapeCollides);
}
else
{
return(GJKCollide.Raycast(body.Shape, ref body.orientation, ref body.invOrientation, ref body.position,
ref rayOrigin, ref rayDirection, out fraction, out normal));
}
}
public override bool Raycast(RigidBody body, JVector rayOrigin, JVector rayDirection, out JVector normal, out float fraction)
{
fraction = float.MaxValue; normal = JVector.Zero;
if (!body.BoundingBox.RayIntersect(rayOrigin, rayDirection))
{
return(false);
}
if (body.Shape is Multishape multishape)
{
multishape = multishape.RequestWorkingClone();
bool multiShapeCollides = false;
JVector.Subtract(rayOrigin, body.position, out var transformedOrigin);
JVector.Transform(transformedOrigin, body.invOrientation, out transformedOrigin);
JVector.Transform(rayDirection, body.invOrientation, out var transformedDirection);
int msLength = multishape.Prepare(transformedOrigin, transformedDirection);
for (int i = 0; i < msLength; i++)
{
multishape.SetCurrentShape(i);
if (GJKCollide.Raycast(
multishape,
body.orientation,
body.position,
rayOrigin,
rayDirection,
out float tempFraction,
out var tempNormal) &&
tempFraction < fraction)
{
if (useTerrainNormal && multishape is TerrainShape terrainShape)
{
terrainShape.CollisionNormal(out tempNormal);
JVector.Transform(tempNormal, body.orientation, out tempNormal);
tempNormal = JVector.Negate(tempNormal);
}
else if (useTriangleMeshNormal && multishape is TriangleMeshShape triangleMeshShape)
{
triangleMeshShape.CollisionNormal(out tempNormal);
JVector.Transform(tempNormal, body.orientation, out tempNormal);
tempNormal = JVector.Negate(tempNormal);
}
normal = tempNormal;
fraction = tempFraction;
multiShapeCollides = true;
}
}
multishape.ReturnWorkingClone();
return(multiShapeCollides);
}
else
{
return(GJKCollide.Raycast(
body.Shape,
body.orientation,
body.position,
rayOrigin,
rayDirection,
out fraction,
out normal));
}
}
