// public float distance { get; private set; }
// public Transform transform { get; private set; }
internal void PopulateFields(IntPtr vehicle, int wheelNum)
{
IntPtr hitActor = PhysXLib.GetGroundHitActor(vehicle, wheelNum);
PhysXBody body = PhysXSceneManager.GetBodyFromPointer(hitActor);
IntPtr shape = PhysXLib.GetGroundHitShape(vehicle, wheelNum);
collider = body.GetColliderFromShape(shape);
PhysXLib.GetGroundHitPosition(vehicle, wheelNum, _pxpoint);
_pxpoint.ToVector(ref _point);
}
internal void PopulateFields()
{
IntPtr hitActor = PhysXLib.GetRaycastHitActor(physXRaycastHit);
PhysXBody body = PhysXSceneManager.GetBodyFromPointer(hitActor);
transform = body.transform;
IntPtr shape = PhysXLib.GetRaycastHitShape(physXRaycastHit);
collider = body.GetColliderFromShape(shape);
distance = PhysXLib.GetRaycastHitDistance(physXRaycastHit);
PhysXLib.GetRaycastHitNormal(physXRaycastHit, _pxnormal);
_pxnormal.ToVector(ref _normal);
PhysXLib.GetRaycastHitPoint(physXRaycastHit, _pxpoint);
_pxpoint.ToVector(ref _point);
}
internal void FromPhysXInternalCollision(IntPtr pairHeader, IntPtr pairs, int pairCount, IntPtr self, bool isEnter, bool isStay, bool isExit)
{
this.self = self;
this.isEnter = isEnter;
this.isStay = isStay;
this.isExit = isExit;
otherActor = PhysXLib.GetPairHeaderActor(pairHeader, 0);
int otherNum = 0;
if (otherActor == self)
{
otherNum = 1;
otherActor = PhysXLib.GetPairHeaderActor(pairHeader, otherNum);
}
PhysXLib.GetPosition(self, initialPosSelf);
ownInitialPosition = initialPosSelf.ToVector();
PhysXLib.GetRotation(self, initialRotSelf);
ownInitialRotation = initialRotSelf.ToQuaternion();
impulse = Vector3.zero;
for (int i = 0; i < pairCount; i++)
{
IntPtr colliderShape = PhysXLib.GetContactPairShape(pairs, i, otherNum);
IntPtr ownShape = PhysXLib.GetContactPairShape(pairs, i, 1 - otherNum);
IntPtr iter = PhysXLib.GetContactPointIterator(pairs, i);
int j = 0;
while (PhysXLib.NextContactPatch(iter))
{
while (PhysXLib.NextContactPoint(iter))
{
float separation = PhysXLib.GetContactPointData(iter, j, pairs, i, pointPos, pointNormal, pointImpulse);
PhysXContactPoint contactPoint = PhysXContactPoint.GetContactPoint();
contactPoint.colliderShape = colliderShape;
contactPoint.ownShape = ownShape;
contactPoint.point = pointPos.ToVector();
if (otherNum == 1)
{
contactPoint.normal = pointNormal.ToVector();
contactPoint.impulse = pointImpulse.ToVector();
}
else
{
contactPoint.normal = -pointNormal.ToVector();
contactPoint.impulse = -pointImpulse.ToVector();
}
contactPoint.separation = separation;
contactPoints.Add(contactPoint);
impulse += contactPoint.impulse;
j++;
}
}
}
// impulse /= contactCount;
}