bool Px3World::castRay( const Point3F &startPnt, const Point3F &endPnt, RayInfo *ri, const Point3F &impulse )
{
physx::PxVec3 orig = px3Cast<physx::PxVec3>( startPnt );
physx::PxVec3 dir = px3Cast<physx::PxVec3>( endPnt - startPnt );
physx::PxF32 maxDist = dir.magnitude();
dir.normalize();
U32 groups = 0xffffffff;
groups &= ~( PX3_TRIGGER ); // No trigger shapes!
physx::PxHitFlags outFlags(physx::PxHitFlag::eDISTANCE | physx::PxHitFlag::eIMPACT | physx::PxHitFlag::eNORMAL);
physx::PxQueryFilterData filterData(physx::PxQueryFlag::eSTATIC|physx::PxQueryFlag::eDYNAMIC);
filterData.data.word0 = groups;
physx::PxRaycastBuffer buf;
if(!mScene->raycast(orig,dir,maxDist,buf,outFlags,filterData))
return false;
if(!buf.hasBlock)
return false;
const physx::PxRaycastHit hit = buf.block;
physx::PxRigidActor *actor = hit.actor;
PhysicsUserData *userData = PhysicsUserData::cast( actor->userData );
if ( ri )
{
ri->object = ( userData != NULL ) ? userData->getObject() : NULL;
if ( ri->object == NULL )
ri->distance = hit.distance;
ri->normal = px3Cast<Point3F>( hit.normal );
ri->point = px3Cast<Point3F>( hit.position );
ri->t = maxDist / hit.distance;
}
if ( impulse.isZero() ||
!actor->isRigidDynamic() ||
actor->is<physx::PxRigidDynamic>()->getRigidDynamicFlags() & physx::PxRigidDynamicFlag::eKINEMATIC )
return true;
physx::PxRigidBody *body = actor->is<physx::PxRigidBody>();
physx::PxVec3 force = px3Cast<physx::PxVec3>( impulse );
physx::PxRigidBodyExt::addForceAtPos(*body,force,hit.position,physx::PxForceMode::eIMPULSE);
return true;
}
PhysicsBody* BtWorld::castRay( const Point3F &start, const Point3F &end, U32 bodyTypes )
{
btVector3 startPt = btCast<btVector3>( start );
btVector3 endPt = btCast<btVector3>( end );
btCollisionWorld::ClosestRayResultCallback result( startPt, endPt );
mDynamicsWorld->rayTest( startPt, endPt, result );
if ( !result.hasHit() || !result.m_collisionObject )
return NULL;
PhysicsUserData *userData = PhysicsUserData::cast( result.m_collisionObject->getUserPointer() );
if ( !userData )
return NULL;
return userData->getBody();
}
PhysicsBody* Px3World::castRay( const Point3F &start, const Point3F &end, U32 bodyTypes )
{
physx::PxVec3 orig = px3Cast<physx::PxVec3>( start );
physx::PxVec3 dir = px3Cast<physx::PxVec3>( end - start );
physx::PxF32 maxDist = dir.magnitude();
dir.normalize();
U32 groups = 0xFFFFFFFF;
if ( !( bodyTypes & BT_Player ) )
groups &= ~( PX3_PLAYER );
// TODO: For now always skip triggers and debris,
// but we should consider how game specifc this API
// should be in the future.
groups &= ~( PX3_TRIGGER ); // triggers
groups &= ~( PX3_DEBRIS ); // debris
physx::PxHitFlags outFlags(physx::PxHitFlag::eDISTANCE | physx::PxHitFlag::eIMPACT | physx::PxHitFlag::eNORMAL);
physx::PxQueryFilterData filterData;
if(bodyTypes & BT_Static)
filterData.flags |= physx::PxQueryFlag::eSTATIC;
if(bodyTypes & BT_Dynamic)
filterData.flags |= physx::PxQueryFlag::eDYNAMIC;
filterData.data.word0 = groups;
physx::PxRaycastBuffer buf;
if( !mScene->raycast(orig,dir,maxDist,buf,outFlags,filterData) )
return NULL;
if(!buf.hasBlock)
return NULL;
physx::PxRigidActor *actor = buf.block.actor;
PhysicsUserData *userData = PhysicsUserData::cast( actor->userData );
if( !userData )
return NULL;
return userData->getBody();
}
