public TSRaycastHit Raycast(TSRay ray, FP maxDistance, RaycastCallback callback = null)
{
IBody hitBody;
TSVector hitNormal;
FP hitFraction;
TSVector origin = ray.origin;
TSVector direction = ray.direction;
if (Raycast(origin, direction, callback, out hitBody, out hitNormal, out hitFraction))
{
if (hitFraction <= maxDistance)
{
GameObject other = PhysicsManager.instance.GetGameObject(hitBody);
TSRigidBody bodyComponent = other.GetComponent <TSRigidBody>();
TSCollider colliderComponent = other.GetComponent <TSCollider>();
TSTransform transformComponent = other.GetComponent <TSTransform>();
return(new TSRaycastHit(bodyComponent, colliderComponent, transformComponent, hitNormal, ray.origin, ray.direction, hitFraction));
}
}
else
{
direction *= maxDistance;
if (Raycast(origin, direction, callback, out hitBody, out hitNormal, out hitFraction))
{
GameObject other = PhysicsManager.instance.GetGameObject(hitBody);
TSRigidBody bodyComponent = other.GetComponent <TSRigidBody>();
TSCollider colliderComponent = other.GetComponent <TSCollider>();
TSTransform transformComponent = other.GetComponent <TSTransform>();
return(new TSRaycastHit(bodyComponent, colliderComponent, transformComponent, hitNormal, ray.origin, direction, hitFraction));
}
}
return(null);
}
/**
* @brief Add a new RigidBody to the world.
*
* @param jRigidBody Instance of a {@link TSRigidBody}.
**/
public void AddBody(ICollider iCollider)
{
if (!(iCollider is TSCollider))
{
Debug.LogError("You have a 2D object but your Physics 2D is disabled.");
return;
}
TSCollider tsCollider = (TSCollider)iCollider;
if (tsCollider._body != null)
{
//already added
return;
}
TSRigidBody tsRB = tsCollider.GetComponent <TSRigidBody>();
TSRigidBodyConstraints constraints = tsRB != null ? tsRB.constraints : TSRigidBodyConstraints.None;
tsCollider.Initialize();
world.AddBody(tsCollider._body);
gameObjectMap[tsCollider._body] = tsCollider.gameObject;
if (tsCollider.gameObject.transform.parent != null && tsCollider.gameObject.transform.parent.GetComponentInParent <TSCollider>() != null)
{
TSCollider parentCollider = tsCollider.gameObject.transform.parent.GetComponentInParent <TSCollider>();
world.AddConstraint(new ConstraintHierarchy(parentCollider.Body, tsCollider._body, (tsCollider.GetComponent <TSTransform>().position + tsCollider.ScaledCenter) - (parentCollider.GetComponent <TSTransform>().position + parentCollider.ScaledCenter)));
}
tsCollider._body.FreezeConstraints = constraints;
}
/**
* @brief Initializes internal properties based on whether there is a {@link TSCollider} attached.
**/
public void Initialize()
{
if (initialized)
{
return;
}
tsCollider = GetComponent <TSCollider>();
if (transform.parent != null)
{
tsParent = transform.parent.GetComponent <TSTransform>();
}
if (!_serialized)
{
UpdateEditMode();
}
if (tsCollider != null)
{
if (tsCollider.IsBodyInitialized)
{
tsCollider.Body.TSPosition = _position + scaledCenter;
tsCollider.Body.TSOrientation = TSMatrix.CreateFromQuaternion(_rotation);
}
}
else
{
StateTracker.AddTracking(this);
}
initialized = true;
}
public TSRaycastHit(TSRigidBody rigidbody, TSCollider collider, TSTransform transform, TSVector normal, TSVector origin, TSVector direction, FP fraction)
{
this.rigidbody = rigidbody;
this.collider = collider;
this.transform = transform;
this.normal = normal;
this.point = origin + direction * fraction;
this.distance = fraction * direction.magnitude;
}
internal void Update(GameObject otherGO, Contact c)
{
if (this.gameObject == null)
{
this.gameObject = otherGO;
this.collider = this.gameObject.GetComponent <TSCollider>();
this.rigidbody = this.gameObject.GetComponent <TSRigidBody>();
this.transform = this.collider.tsTransform;
}
if (c != null)
{
if (contacts[0] == null)
{
contacts[0] = new TSContactPoint();
}
this.relativeVelocity = c.CalculateRelativeVelocity();
contacts[0].normal = c.Normal;
contacts[0].point = c.p1;
}
}
