/// <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="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.Count = 0;
req.length = length;
req.Normal = direction;
req.Origin = position;
m_PendingRequests.Enqueue(req);
}
/// <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 with a geom
/// </summary>
/// <param name="req"></param>
private void doGeomRay(ODERayRequest req)
{
// Create the ray
// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
d.GeomRaySetLength(ray, 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(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
// Remove Ray
// d.GeomDestroy(ray);
if (req.callbackMethod == null)
return;
if (req.callbackMethod is RaycastCallback)
{
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
float distance = 999999999999f;
Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (ContactResult cResult in m_contactResults)
{
if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
{
closestcontact = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
}
m_contactResults.Clear();
}
((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
}
else
{
((RayCallback)req.callbackMethod)(m_contactResults);
lock (m_PendingRequests)
m_contactResults.Clear();
}
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRequests.Enqueue(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>
/// 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);
}
}
