/// Perform a ray-hit test with the collision models.
public override bool RayHit(ChVector from,
ChVector to,
ChCollisionModel model,
ref ChRayhitResult mresult)
{
return(RayHit(from, to, model, ref mresult, CollisionFilterGroups.DefaultFilter, CollisionFilterGroups.AllFilter));
}
/// Perform a ray-hit test with the specified collision model.
public override bool RayHit(ChVector from,
ChVector to,
ChCollisionModel model,
ref ChRayhitResult mresult,
CollisionFilterGroups filter_group,
CollisionFilterGroups filter_mask)
{
IndexedVector3 btfrom = new IndexedVector3((float)from.x, (float)from.y, (float)from.z);
IndexedVector3 btto = new IndexedVector3((float)to.x, (float)to.y, (float)to.z);
BulletXNA.BulletCollision.AllHitsRayResultCallback rayCallback = new AllHitsRayResultCallback(btfrom, btto);
rayCallback.m_collisionFilterGroup = filter_group;
rayCallback.m_collisionFilterMask = filter_mask;
this.bt_collision_world.rayTest(btfrom, btto, rayCallback);
// Find the closest hit result on the specified model (if any)
int hit = -1;
float fraction = 1;
for (int i = 0; i < rayCallback.m_collisionObjects.Count; ++i)
{
if (rayCallback.m_collisionObjects[i].GetUserPointer() == model && rayCallback.m_hitFractions[i] < fraction)
{
hit = i;
fraction = rayCallback.m_hitFractions[i];
}
}
// Ray does not hit specified model
if (hit == -1)
{
mresult.hit = false;
return(false);
}
// Return the closest hit on the specified model
mresult.hit = true;
mresult.hitModel = (ChCollisionModel)(rayCallback.m_collisionObjects[hit].GetUserPointer());
mresult.abs_hitPoint.Set(rayCallback.m_hitPointWorld[hit].X, rayCallback.m_hitPointWorld[hit].Y,
rayCallback.m_hitPointWorld[hit].Z);
mresult.abs_hitNormal.Set(rayCallback.m_hitNormalWorld[hit].X, rayCallback.m_hitNormalWorld[hit].Y,
rayCallback.m_hitNormalWorld[hit].Z);
mresult.abs_hitNormal.Normalize();
mresult.dist_factor = fraction;
mresult.abs_hitPoint = mresult.abs_hitPoint - mresult.abs_hitNormal * mresult.hitModel.GetEnvelope();
return(true);
}
/// Perform a ray-hit test with the specified collision model.
public abstract bool RayHit(ChVector from,
ChVector to,
ChCollisionModel model,
ref ChRayhitResult mresult,
CollisionFilterGroups filter_group,
CollisionFilterGroups filter_mask);
/// Perform a ray-hit test with the collision models. public abstract bool RayHit(ChVector from, ChVector to, ChCollisionModel model, ref ChRayhitResult mresult);
