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