dgFloat32 dgCollisionInstance::ConvexRayCast (const dgCollisionInstance* const convexShape, const dgMatrix& convexShapeMatrix, const dgVector& localVeloc, dgFloat32 minT, dgContactPoint& contactOut, OnRayPrecastAction preFilter, const dgBody* const referenceBody, void* const userData, dgInt32 threadId) const
{
dgFloat32 t = dgFloat32 (1.2f);
if ((GetCollisionPrimityType() != m_nullCollision) && (!preFilter || preFilter(referenceBody, this, userData))) {
t = m_childShape->ConvexRayCast (convexShape, convexShapeMatrix, localVeloc, minT, contactOut, referenceBody, this, userData, threadId);
if (t <= minT) {
if (!(m_childShape->IsType(dgCollision::dgCollisionMesh_RTTI) || m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI))) {
contactOut.m_shapeId0 = GetUserDataID();
//contactOut.m_shapeId1 = GetUserDataID();
contactOut.m_shapeId1 = convexShape->GetUserDataID();
}
contactOut.m_collision0 = this;
//contactOut.m_collision1 = this;
contactOut.m_collision1 = convexShape;
}
}
return t;
}
dgFloat32 dgCollisionInstance::RayCast (const dgVector& localP0, const dgVector& localP1, dgFloat32 maxT, dgContactPoint& contactOut, OnRayPrecastAction preFilter, const dgBody* const body, void* const userData) const
{
if (!preFilter || preFilter(body, this, userData)) {
switch(m_scaleType)
{
case m_unit:
{
dgFloat32 t = m_childShape->RayCast (localP0, localP1, maxT, contactOut, body, userData, preFilter);
if (t <= maxT) {
if (!(m_childShape->IsType(dgCollision::dgCollisionMesh_RTTI) || m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI))) {
contactOut.m_shapeId0 = GetUserDataID();
contactOut.m_shapeId1 = GetUserDataID();
}
if (!m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI)) {
contactOut.m_collision0 = this;
contactOut.m_collision1 = this;
}
}
return t;
}
case m_uniform:
{
dgVector p0 (localP0 * m_invScale);
dgVector p1 (localP1 * m_invScale);
dgFloat32 t = m_childShape->RayCast (p0, p1, maxT, contactOut, body, userData, preFilter);
if (t <= maxT) {
if (!(m_childShape->IsType(dgCollision::dgCollisionMesh_RTTI) || m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI))) {
contactOut.m_shapeId0 = GetUserDataID();
contactOut.m_shapeId1 = GetUserDataID();
}
if (!m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI)) {
contactOut.m_collision0 = this;
contactOut.m_collision1 = this;
}
}
return t;
}
case m_nonUniform:
{
dgVector p0 (localP0 * m_invScale);
dgVector p1 (localP1 * m_invScale);
dgFloat32 t = m_childShape->RayCast (p0, p1, maxT, contactOut, body, userData, preFilter);
if (t <= maxT) {
if (!(m_childShape->IsType(dgCollision::dgCollisionMesh_RTTI) || m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI))) {
contactOut.m_shapeId0 = GetUserDataID();
contactOut.m_shapeId1 = GetUserDataID();
dgVector n (m_invScale * contactOut.m_normal);
contactOut.m_normal = n.Normalize();
}
if (!m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI)) {
contactOut.m_collision0 = this;
contactOut.m_collision1 = this;
}
}
return t;
}
case m_global:
default:
{
dgVector p0 (m_aligmentMatrix.UntransformVector (localP0 * m_invScale));
dgVector p1 (m_aligmentMatrix.UntransformVector (localP1 * m_invScale));
dgFloat32 t = m_childShape->RayCast (p0, p1, maxT, contactOut, body, userData, preFilter);
if (t <= maxT) {
if (!(m_childShape->IsType(dgCollision::dgCollisionMesh_RTTI) || m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI))) {
contactOut.m_shapeId0 = GetUserDataID();
contactOut.m_shapeId1 = GetUserDataID();
dgVector n (m_aligmentMatrix.RotateVector(m_invScale * contactOut.m_normal));
contactOut.m_normal = n.Normalize();
}
if (!(m_childShape->IsType(dgCollision::dgCollisionCompound_RTTI))) {
contactOut.m_collision0 = this;
contactOut.m_collision1 = this;
}
}
return t;
}
}
}
return dgFloat32 (1.2f);
}
