public void convexSweepTest(
ConvexShape castShape,
Transform convexFromWorld,
Transform convexToWorld,
CollisionWorld.ConvexResultCallback resultCallback,
float allowedCcdPenetration) {
Transform convexFromTrans = new Transform();
Transform convexToTrans = new Transform();
convexFromTrans.set(convexFromWorld);
convexToTrans.set(convexToWorld);
Vector3f castShapeAabbMin = new Vector3f();
Vector3f castShapeAabbMax = new Vector3f();
// compute AABB that encompasses angular movement
{
Vector3f linVel = new Vector3f();
Vector3f angVel = new Vector3f();
TransformUtil.calculateVelocity(convexFromTrans, convexToTrans, 1f, linVel, angVel);
Transform R = new Transform();
R.setIdentity();
R.setRotation(convexFromTrans.getRotation(new Quat4f()));
castShape.calculateTemporalAabb(R, linVel, angVel, 1f, castShapeAabbMin, castShapeAabbMax);
}
Transform tmpTrans = new Transform();
// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
for (int i = 0; i < overlappingObjects.size(); i++) {
CollisionObject collisionObject = overlappingObjects.getQuick(i);
// only perform raycast if filterMask matches
if (resultCallback.needsCollision(collisionObject.getBroadphaseHandle())) {
// RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
Vector3f collisionObjectAabbMin = new Vector3f();
Vector3f collisionObjectAabbMax = new Vector3f();
collisionObject
.getCollisionShape()
.getAabb(
collisionObject.getWorldTransform(tmpTrans),
collisionObjectAabbMin,
collisionObjectAabbMax);
AabbUtil2.aabbExpand(
collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
float[] hitLambda =
new float[] {1f}; // could use resultCallback.closestHitFraction, but needs testing
Vector3f hitNormal = new Vector3f();
if (AabbUtil2.rayAabb(
convexFromWorld.origin,
convexToWorld.origin,
collisionObjectAabbMin,
collisionObjectAabbMax,
hitLambda,
hitNormal)) {
CollisionWorld.objectQuerySingle(
castShape,
convexFromTrans,
convexToTrans,
collisionObject,
collisionObject.getCollisionShape(),
collisionObject.getWorldTransform(tmpTrans),
resultCallback,
allowedCcdPenetration);
}
}
}
}
