public unsafe bool ColliderCastLeaf <T>(ColliderCastInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
// Transform the input into body space
var worldFromBody = new MTransform(body.WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
var inputLs = new ColliderCastInput
{
Collider = input.Collider,
Orientation = math.mul(math.inverse(body.WorldFromBody.rot), input.Orientation),
QueryContext = new QueryContext
{
RigidBodyIndex = rigidBodyIndex,
NumColliderKeyBits = 0,
ColliderKey = ColliderKey.Empty,
WorldFromLocalTransform = worldFromBody,
Entity = body.Entity,
IsInitialized = true
}
};
inputLs.Ray.Origin = Mul(bodyFromWorld, input.Ray.Origin);
inputLs.Ray.Displacement = math.mul(bodyFromWorld.Rotation, input.Ray.Displacement);
return(body.CastCollider(inputLs, ref collector));
}
public unsafe bool ColliderCastLeaf <T>(ColliderCastInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
// Transform the input into body space
var worldFromBody = new MTransform(body.WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
var inputLs = new ColliderCastInput
{
Collider = input.Collider,
Orientation = math.mul(math.inverse(body.WorldFromBody.rot), input.Orientation),
};
inputLs.Ray.Origin = Mul(bodyFromWorld, input.Ray.Origin);
inputLs.Ray.Displacement = math.mul(bodyFromWorld.Rotation, input.Ray.Displacement);
float fraction = collector.MaxFraction;
int numHits = collector.NumHits;
if (body.CastCollider(inputLs, ref collector))
{
// Transform results back into world space
collector.TransformNewHits(numHits, fraction, worldFromBody, rigidBodyIndex);
return(true);
}
return(false);
}
public unsafe bool ColliderCastLeaf <T>(ColliderCastInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
input.QueryContext.IsInitialized = true;
input.QueryContext.RigidBodyIndex = rigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
return(body.CastCollider(input, ref collector));
}
