/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayCastRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
float distance = 999999999999f;
Vector3[] closestcontact = { new Vector3(99999f, 99999f, 99999f) };
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (
ContactResult cResult in
m_contactResults.Where(
cResult =>
Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact[0]))
)
{
closestcontact[0] = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
m_contactResults.Clear();
}
// Return results
if (req.callbackMethod != null)
{
req.callbackMethod(hitYN, closestcontact[0], hitConsumerID, distance, snormal);
}
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayCastRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
float distance = 999999999999f;
Vector3[] closestcontact = {new Vector3(99999f, 99999f, 99999f)};
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (
ContactResult cResult in
m_contactResults.Where(
cResult =>
Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact[0]))
)
{
closestcontact[0] = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
m_contactResults.Clear();
}
// Return results
if (req.callbackMethod != null)
req.callbackMethod(hitYN, closestcontact[0], hitConsumerID, distance, snormal);
}
