public void ApplyForce()
{
Ray ray = UnityEngine.Camera.main.ScreenPointToRay(UnityEngine.Input.mousePosition);
float impulse;
float.TryParse(GameObject.Find("ImpulseInputField").GetComponent <InputField>().text, out impulse);
Vector3 a = ray.origin + (ray.direction * 1000);
BulletSharp.Math.Vector3 from = new BulletSharp.Math.Vector3(ray.origin.x, ray.origin.y, ray.origin.z),
to = new BulletSharp.Math.Vector3(a.x, a.y, a.z);
ClosestRayResultCallback callback = new ClosestRayResultCallback(ref from, ref to);
BPhysicsWorld world = BPhysicsWorld.Get();
world.world.RayTest(from, to, callback);
BulletSharp.Math.Vector3 point = callback.HitNormalWorld;
BRigidBody part = (BRigidBody)callback.CollisionObject.UserObject;
foreach (BRigidBody br in GameObject.Find("Robot").GetComponentsInChildren <BRigidBody>())
{
if (part == br)
{
Vector3 closestPoint = br.GetComponent <MeshRenderer>().bounds.ClosestPoint(point.ToUnity());
Ray normalRay = new Ray(point.ToUnity(), closestPoint - point.ToUnity());
part.AddImpulseAtPosition(ray.direction.normalized * impulse, point.ToUnity());
// part.AddImpulseAtPosition(normalRay.direction.normalized * impulse, normalRay.origin);
}
}
}
