void PhysicsWorld::ConvexCast(PhysicsRaycastResult& result, CollisionShape* shape, const Vector3& startPos, const Quaternion& startRot, const Vector3& endPos, const Quaternion& endRot, unsigned collisionMask)
{
if (!shape || !shape->GetCollisionShape())
{
LOGERROR("Null collision shape for convex cast");
result.body_ = 0;
result.position_ = Vector3::ZERO;
result.normal_ = Vector3::ZERO;
result.distance_ = M_INFINITY;
return;
}
// If shape is attached in a rigidbody, set its collision group temporarily to 0 to make sure it is not returned in the sweep result
RigidBody* bodyComp = shape->GetComponent<RigidBody>();
btRigidBody* body = bodyComp ? bodyComp->GetBody() : (btRigidBody*)0;
btBroadphaseProxy* proxy = body ? body->getBroadphaseProxy() : (btBroadphaseProxy*)0;
short group = 0;
if (proxy)
{
group = proxy->m_collisionFilterGroup;
proxy->m_collisionFilterGroup = 0;
}
ConvexCast(result, shape->GetCollisionShape(), startPos, startRot, endPos, endRot, collisionMask);
// Restore the collision group
if (proxy)
proxy->m_collisionFilterGroup = group;
}
void PhysicsWorld::ConvexCast(PhysicsRaycastResult& result, CollisionShape* shape, const Vector3& startPos,
const Quaternion& startRot, const Vector3& endPos, const Quaternion& endRot, unsigned collisionMask)
{
if (!shape || !shape->GetCollisionShape())
{
ATOMIC_LOGERROR("Null collision shape for convex cast");
result.body_ = 0;
result.position_ = Vector3::ZERO;
result.normal_ = Vector3::ZERO;
result.distance_ = M_INFINITY;
result.hitFraction_ = 0.0f;
return;
}
// If shape is attached in a rigidbody, set its collision group temporarily to 0 to make sure it is not returned in the sweep result
RigidBody* bodyComp = shape->GetComponent<RigidBody>();
btRigidBody* body = bodyComp ? bodyComp->GetBody() : (btRigidBody*)0;
btBroadphaseProxy* proxy = body ? body->getBroadphaseProxy() : (btBroadphaseProxy*)0;
short group = 0;
if (proxy)
{
group = proxy->m_collisionFilterGroup;
proxy->m_collisionFilterGroup = 0;
}
// Take the shape's offset position & rotation into account
Node* shapeNode = shape->GetNode();
Matrix3x4 startTransform(startPos, startRot, shapeNode ? shapeNode->GetWorldScale() : Vector3::ONE);
Matrix3x4 endTransform(endPos, endRot, shapeNode ? shapeNode->GetWorldScale() : Vector3::ONE);
Vector3 effectiveStartPos = startTransform * shape->GetPosition();
Vector3 effectiveEndPos = endTransform * shape->GetPosition();
Quaternion effectiveStartRot = startRot * shape->GetRotation();
Quaternion effectiveEndRot = endRot * shape->GetRotation();
ConvexCast(result, shape->GetCollisionShape(), effectiveStartPos, effectiveStartRot, effectiveEndPos, effectiveEndRot, collisionMask);
// Restore the collision group
if (proxy)
proxy->m_collisionFilterGroup = group;
}