public void Result(Vector3[] hullVertices, int[] hullIndices)
{
_wavefrontWriter.OutputObject(hullVertices, hullIndices);
// Calculate centroid, to shift vertices around center of mass
Vector3 centroid = CalculateCentroid(hullVertices);
ConvexCentroids.Add(centroid);
List <Vector3> outVertices = hullVertices.Select(v => v * LocalScaling - centroid).ToList();
// This is a tools issue:
// due to collision margin, convex objects overlap, compensate for it here.
#if false
outVertices = ShrinkObjectInwards(hullVertices);
#endif
var convexShape = new ConvexHullShape(outVertices);
convexShape.Margin = 0.01f;
ConvexShapes.Add(convexShape);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="result">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref System.Numerics.Vector3 sweep, out RayCastResult result)
{
var outputOverlappedElements = PhysicsResources.GetCollidableList();
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
CollidableTree.GetOverlaps(boundingBox, outputOverlappedElements);
result = new RayCastResult();
result.HitData.T = float.MaxValue;
for (int i = 0; i < outputOverlappedElements.Count; ++i)
{
RayHit hit;
if (outputOverlappedElements.Elements[i].ConvexCast(castShape, ref startingTransform, ref sweep, out hit))
{
if (hit.T < result.HitData.T)
{
result.HitData = hit;
result.HitObject = outputOverlappedElements.Elements[i];
}
}
}
PhysicsResources.GiveBack(outputOverlappedElements);
return result.HitData.T < float.MaxValue;
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="result">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, out RayCastResult result)
{
var outputOverlappedElements = Resources.GetCollidableList();
var rayHits = Resources.GetRayHitList();
BoundingBox boundingBox;
Toolbox.GetExpandedBoundingBox(ref castShape, ref startingTransform, ref sweep, out boundingBox);
CollidableTree.GetOverlaps(boundingBox, outputOverlappedElements);
result = new RayCastResult();
result.HitData.T = float.MaxValue;
for (int i = 0; i < outputOverlappedElements.count; ++i)
{
RayHit hit;
if (outputOverlappedElements.Elements[i].ConvexCast(castShape, ref startingTransform, ref sweep, out hit))
{
if (hit.T < result.HitData.T)
{
result.HitData = hit;
result.HitObject = outputOverlappedElements.Elements[i];
}
}
}
Resources.GiveBack(rayHits);
Resources.GiveBack(outputOverlappedElements);
return result.HitData.T < float.MaxValue;
}