void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
if (!m_manifoldPtr) {
if (m_isSwapped) {
m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject());
} else {
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
}
m_ownManifold = true;
}
m_manifoldPtr->clearManifold();
resultOut->setPersistentManifold(m_manifoldPtr);
const btRayShape *ray_shape;
btTransform ray_transform;
const btCollisionObjectWrapper *other_co_wrapper;
if (m_isSwapped) {
ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape());
ray_transform = body1Wrap->getWorldTransform();
other_co_wrapper = body0Wrap;
} else {
ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape());
ray_transform = body0Wrap->getWorldTransform();
other_co_wrapper = body1Wrap;
}
btTransform to(ray_transform * ray_shape->getSupportPoint());
btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin());
m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
if (btResult.hasHit()) {
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
if (depth > -RAY_PENETRATION_DEPTH_EPSILON)
depth = 0.0;
if (ray_shape->getSlipsOnSlope())
resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
else {
resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
}
}
}
bool Physics3DWorld::rayCast(const cocos2d::Vec3& startPos, const cocos2d::Vec3& endPos, Physics3DWorld::HitResult* result)
{
auto btStart = convertVec3TobtVector3(startPos);
auto btEnd = convertVec3TobtVector3(endPos);
btCollisionWorld::ClosestRayResultCallback btResult(btStart, btEnd);
_btPhyiscsWorld->rayTest(btStart, btEnd, btResult);
if (btResult.hasHit())
{
result->hitObj = getPhysicsObject(btResult.m_collisionObject);
result->hitPosition = convertbtVector3ToVec3(btResult.m_hitPointWorld);
result->hitNormal = convertbtVector3ToVec3(btResult.m_hitNormalWorld);
return true;
}
result->hitObj = nullptr;
return false;
}
bool Physics3DWorld::sweepShape(Physics3DShape* shape, const cocos2d::Mat4& startTransform, const cocos2d::Mat4& endTransform, Physics3DWorld::HitResult* result)
{
CC_ASSERT(shape->getShapeType() != Physics3DShape::ShapeType::HEIGHT_FIELD && shape->getShapeType() != Physics3DShape::ShapeType::MESH);
auto btStart = convertMat4TobtTransform(startTransform);
auto btEnd = convertMat4TobtTransform(endTransform);
btCollisionWorld::ClosestConvexResultCallback btResult(btStart.getOrigin(), btEnd.getOrigin());
_btPhyiscsWorld->convexSweepTest((btConvexShape*)shape->getbtShape(), btStart, btEnd, btResult);
if (btResult.hasHit())
{
result->hitObj = getPhysicsObject(btResult.m_hitCollisionObject);
result->hitPosition = convertbtVector3ToVec3(btResult.m_hitPointWorld);
result->hitNormal = convertbtVector3ToVec3(btResult.m_hitNormalWorld);
return true;
}
result->hitObj = nullptr;
return false;
}