public void ConvexSweepTest(ConvexShape castShape, ref IndexedMatrix convexFromWorld, ref IndexedMatrix convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
IndexedMatrix convexFromTrans = convexFromWorld;
IndexedMatrix convexToTrans = convexToWorld;
IndexedVector3 castShapeAabbMin;
IndexedVector3 castShapeAabbMax;
/* Compute AABB that encompasses angular movement */
IndexedVector3 linVel, angVel;
TransformUtil.CalculateVelocity(ref convexFromTrans, ref convexToTrans, 1.0f, out linVel, out angVel);
// FIXME MAN check this - should be a get/set rotation call, basis copy like this may break with scale?
IndexedMatrix R = IndexedMatrix.Identity;
R.SetRotation(convexFromTrans.GetRotation());
castShape.CalculateTemporalAabb(ref R, ref linVel, ref angVel, 1.0f, out castShapeAabbMin, out castShapeAabbMax);
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
for (int i = 0; i < m_overlappingObjects.Count; i++)
{
CollisionObject collisionObject = m_overlappingObjects[i];
//only perform raycast if filterMask matches
if (resultCallback.NeedsCollision(collisionObject.GetBroadphaseHandle()))
{
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
IndexedVector3 collisionObjectAabbMin;
IndexedVector3 collisionObjectAabbMax;
IndexedMatrix t = collisionObject.GetWorldTransform();
collisionObject.GetCollisionShape().GetAabb(ref t, out collisionObjectAabbMin, out collisionObjectAabbMax);
AabbUtil2.AabbExpand(ref collisionObjectAabbMin, ref collisionObjectAabbMax, ref castShapeAabbMin, ref castShapeAabbMax);
float hitLambda = 1f; //could use resultCallback.m_closestHitFraction, but needs testing
IndexedVector3 hitNormal;
if (AabbUtil2.RayAabb(convexFromWorld._origin, convexToWorld._origin, ref collisionObjectAabbMin, ref collisionObjectAabbMax, ref hitLambda, out hitNormal))
{
IndexedMatrix wt = collisionObject.GetWorldTransform();
CollisionWorld.ObjectQuerySingle(castShape, ref convexFromTrans, ref convexToTrans,
collisionObject,
collisionObject.GetCollisionShape(),
ref wt,
resultCallback,
allowedCcdPenetration);
}
}
}
}
public virtual void ConvexSweepTest(ConvexShape castShape, ref IndexedMatrix convexFromWorld, ref IndexedMatrix convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
BulletGlobals.StartProfile("convexSweepTest");
/// use the broadphase to accelerate the search for objects, based on their aabb
/// and for each object with ray-aabb overlap, perform an exact ray test
/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
IndexedMatrix convexFromTrans;
IndexedMatrix convexToTrans;
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
IndexedVector3 castShapeAabbMin;
IndexedVector3 castShapeAabbMax;
/* Compute AABB that encompasses angular movement */
{
IndexedVector3 linVel;
IndexedVector3 angVel;
TransformUtil.CalculateVelocity(ref convexFromTrans, ref convexToTrans, 1.0f, out linVel, out angVel);
IndexedVector3 zeroLinVel = new IndexedVector3();
IndexedMatrix R = IndexedMatrix.Identity;
R.SetRotation(convexFromTrans.GetRotation());
castShape.CalculateTemporalAabb(ref R, ref zeroLinVel, ref angVel, 1.0f, out castShapeAabbMin, out castShapeAabbMax);
}
#if !USE_BRUTEFORCE_RAYBROADPHASE
SingleSweepCallback convexCB = BulletGlobals.SingleSweepCallbackPool.Get();
convexCB.Initialize(castShape, ref convexFromWorld, ref convexToWorld, this, resultCallback, allowedCcdPenetration);
IndexedVector3 tempFrom = convexFromTrans._origin;
IndexedVector3 tempTo = convexToTrans._origin;
m_broadphasePairCache.RayTest(ref tempFrom, ref tempTo, convexCB, ref castShapeAabbMin, ref castShapeAabbMax);
convexCB.Cleanup();
BulletGlobals.SingleSweepCallbackPool.Free(convexCB);
#else
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
int i;
for (i=0;i<m_collisionObjects.Count;i++)
{
CollisionObject collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(resultCallback.NeedsCollision(collisionObject.GetBroadphaseHandle()))
{
//RigidcollisionObject* collisionObject = ctrl.GetRigidcollisionObject();
IndexedVector3 collisionObjectAabbMin = new IndexedVector3();
IndexedVector3 collisionObjectAabbMax = new IndexedVector3();
collisionObject.GetCollisionShape().GetAabb(collisionObject.GetWorldTransform(),ref collisionObjectAabbMin,ref collisionObjectAabbMax);
AabbUtil2.AabbExpand(ref collisionObjectAabbMin, ref collisionObjectAabbMax, ref castShapeAabbMin, ref castShapeAabbMax);
float hitLambda = 1f; //could use resultCallback.m_closestHitFraction, but needs testing
IndexedVector3 hitNormal = new IndexedVector3();
IndexedVector3 fromOrigin = convexFromWorld._origin;
IndexedVector3 toOrigin = convexToWorld._origin;
if (AabbUtil2.RayAabb(ref fromOrigin, ref toOrigin, ref collisionObjectAabbMin, ref collisionObjectAabbMax, ref hitLambda, ref hitNormal))
{
IndexedMatrix trans = collisionObject.GetWorldTransform();
ObjectQuerySingle(castShape, ref convexFromTrans,ref convexToTrans,
collisionObject,
collisionObject.GetCollisionShape(),
ref trans,
resultCallback,
allowedCcdPenetration);
}
}
}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
BulletGlobals.StopProfile();
}