private bool FindRealPoint(ref Matrix transform)
{
/* Look for the real height of the step.
* Move a bit along the ground-collision direction, horizontally,
* and vertically use 0 and the max step height. */
Vector3 minTargetPoint = new Vector3(_stepLocal.X, 0, _stepLocal.Z);
minTargetPoint *= 1 + _stepSearchOvershoot / minTargetPoint.Length;
// As above: we are using capsule lowest point, rather than ground
minTargetPoint.Y -= _originHeight;
Vector3 maxTargetPoint = minTargetPoint;
maxTargetPoint.Y += _controller.MaxStepHeight + _stepSearchOvershoot;
minTargetPoint = Vector3.TransformCoordinate(minTargetPoint, transform);
maxTargetPoint = Vector3.TransformCoordinate(maxTargetPoint, transform);
_closestRay.Setup(ref maxTargetPoint, ref minTargetPoint);
_world.RayTest(maxTargetPoint, minTargetPoint, _closestRay);
if (!_closestRay.HasHit)
{
return(false);
}
if ((1 - _closestRay.ClosestHitFraction) < 0.0001f)
{
// Almost at the minimum point, can walk normally
return(false);
}
RealPosWorld = _closestRay.HitPointWorld;
return(true);
}
public Object CastRay(ref Vector3 from, ref Vector3 to, VehicleRaycasterResult result)
{
// RayResultCallback& resultCallback;
using (ClosestRayResultCallback rayCallback = new ClosestRayResultCallback())
{
rayCallback.Setup(ref from, ref to);
m_dynamicsWorld.RayTestRef(ref from, ref to, rayCallback);
if (rayCallback.HasHit)
{
RigidBody body = RigidBody.Upcast(rayCallback.CollisionObject);
if (body != null && body.HasContactResponse)
{
result.HitPointInWorld = rayCallback.HitPointWorld;
Vector3 hitNormalInWorld = rayCallback.HitNormalWorld;
hitNormalInWorld.Normalize();
result.HitNormalInWorld = hitNormalInWorld;
result.DistFraction = rayCallback.ClosestHitFraction;
return(body);
}
}
}
return(null);
}