public bool Collide(NewtonBody body1, NewtonBody body2, out NewtonCollideInfo hitInfo)
{
dMatrix matrix1 = Utils.ToMatrix(body1.Position, body1.Rotation);
dMatrix matrix2 = Utils.ToMatrix(body2.Position, body2.Rotation);
var hitInfoPtr = m_world.Collide(matrix1, matrix2, body1.m_collision.GetShape(), body2.m_collision.GetShape(), 1);// m_world.Raycast(startPos.x, startPos.y, startPos.z, endPos.x, endPos.y, endPos.z, layerMask);
//mat_handle.Free();
if (hitInfoPtr != IntPtr.Zero)
{
_InternalConvexCastInfo info = (_InternalConvexCastInfo)Marshal.PtrToStructure(hitInfoPtr, typeof(_InternalConvexCastInfo));
hitInfo.body = body2;
hitInfo.position = info.point;
hitInfo.normal = info.normal;
hitInfo.collisionID1 = (uint)info.contactID1;
hitInfo.collisionID2 = (uint)info.contactID2;
hitInfo.penetration = info.penetration;
hitInfo.timeOfImpact = 0;
return(true);
}
hitInfo.body = null;
hitInfo.position = Vector3.zero;
hitInfo.normal = Vector3.zero;
hitInfo.collisionID1 = 0;
hitInfo.collisionID2 = 0;
hitInfo.penetration = 0;
hitInfo.timeOfImpact = 0;
return(false);
}
public bool Collide(/*Matrix4x4 matrix,*/ NewtonBody body, out NewtonCollideInfo hitInfo, int layerMask = 0)
{
//dMatrix matrix = Utils.ToMatrix(body.transform.position, body.transform.rotation);
//GCHandle mat_handle = GCHandle.Alloc(matrix);
//dVector vec = new dVector(transform.position.x, transform.position.y, transform.position.z);
//dQuaternion quat = new dQuaternion(transform.rotation.w, transform.rotation.x, transform.rotation.y, transform.rotation.z);
dMatrix matrix = Utils.ToMatrix(body.transform.position, body.transform.rotation);
var hitInfoPtr = m_world.Collide(matrix, body.m_collision.GetShape(), layerMask);// m_world.Raycast(startPos.x, startPos.y, startPos.z, endPos.x, endPos.y, endPos.z, layerMask);
//mat_handle.Free();
if (hitInfoPtr != IntPtr.Zero)
{
_InternalConvexCastInfo info = (_InternalConvexCastInfo)Marshal.PtrToStructure(hitInfoPtr, typeof(_InternalConvexCastInfo));
if (info.hitBody != IntPtr.Zero)
{
hitInfo.body = (NewtonBody)GCHandle.FromIntPtr(info.hitBody).Target;
}
else
{
hitInfo.body = null;
}
//hitInfo.collider = null;
hitInfo.position = info.point;
hitInfo.normal = info.normal;
//hitInfo.collisionID = 0;
hitInfo.collisionID1 = 0;
hitInfo.collisionID2 = (uint)info.contactID2;
hitInfo.penetration = info.penetration;
hitInfo.timeOfImpact = 0;
return(true);
}
hitInfo.body = null;
//hitInfo.collider = null;
hitInfo.position = Vector3.zero;
hitInfo.normal = Vector3.zero;
//hitInfo.collisionID = 0;
hitInfo.collisionID1 = 0;
hitInfo.collisionID2 = 0;
hitInfo.penetration = 0;
hitInfo.timeOfImpact = 0;
return(false);
}
