bool gkRayTest::collides(const gkVector3& from, const gkVector3& to,
gkRayTest::gkRayTestFilter& rayCallback)
{
btVector3 rayFrom(from.x, from.y, from.z);
btVector3 rayTo(to.x, to.y, to.z);
btVector3 hitPointWorld;
rayCallback.m_collisionFilterGroup = btBroadphaseProxy::AllFilter;
rayCallback.m_collisionFilterMask = btBroadphaseProxy::AllFilter;
GK_ASSERT(m_scene);
btDynamicsWorld* pWorld = m_scene->getDynamicsWorld()->getBulletWorld();
GK_ASSERT(pWorld);
pWorld->rayTest(rayFrom, rayTo, rayCallback);
if (rayCallback.hasHit())
{
m_hitNormalWorld = gkVector3(rayCallback.m_hitNormalWorld);
m_collisionObject = rayCallback.m_collisionObject;
m_hitFraction = rayCallback.m_closestHitFraction;
hitPointWorld.setInterpolate3(rayFrom, rayTo, m_hitFraction);
m_hitPointWorld = gkVector3(hitPointWorld);
return true;
}
return false;
}
glm::vec3 GameWorld::getGroundAtPosition(const glm::vec3 &pos) const
{
btVector3 rayFrom(pos.x, pos.y, 100.f);
btVector3 rayTo(pos.x, pos.y, -100.f);
btDynamicsWorld::ClosestRayResultCallback rr(rayFrom, rayTo);
dynamicsWorld->rayTest( rayFrom, rayTo, rr );
if(rr.hasHit()) {
auto& ws = rr.m_hitPointWorld;
return { ws.x(), ws.y(), ws.z() };
}
return pos;
}
PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
{
float minFraction = 1.f;
SimdVector3 rayFrom(fromX,fromY,fromZ);
SimdVector3 rayTo(toX,toY,toZ);
SimdVector3 hitPointWorld,normalWorld;
//Either Ray Cast with or without filtering
//CollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo);
PHY_IPhysicsController* nearestHit = 0;
m_collisionWorld->RayTest(rayFrom,rayTo,rayCallback);
if (rayCallback.HasHit())
{
nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->m_userPointer);
hitX = rayCallback.m_hitPointWorld.getX();
hitY = rayCallback.m_hitPointWorld.getY();
hitZ = rayCallback.m_hitPointWorld.getZ();
normalX = rayCallback.m_hitNormalWorld.getX();
normalY = rayCallback.m_hitNormalWorld.getY();
normalZ = rayCallback.m_hitNormalWorld.getZ();
}
return nearestHit;
}
