/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from
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* the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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package com.bulletphysics.dynamics.vehicle;
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import com.bulletphysics.collision.dispatch.CollisionWorld.ClosestRayResultCallback;
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import com.bulletphysics.dynamics.DynamicsWorld;
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import com.bulletphysics.dynamics.RigidBody;
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import javax.vecmath.Vector3f;
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/**
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* Default implementation of {@link VehicleRaycaster}.
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*
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* @author jezek2
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*/
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public class DefaultVehicleRaycaster extends VehicleRaycaster {
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protected DynamicsWorld dynamicsWorld;
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public DefaultVehicleRaycaster(DynamicsWorld world) {
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this.dynamicsWorld = world;
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}
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public Object castRay(Vector3f from, Vector3f to, VehicleRaycasterResult result) {
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//RayResultCallback& resultCallback;
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ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(from, to);
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dynamicsWorld.rayTest(from, to, rayCallback);
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if (rayCallback.hasHit()) {
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RigidBody body = RigidBody.upcast(rayCallback.collisionObject);
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if (body != null && body.hasContactResponse()) {
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result.hitPointInWorld.set(rayCallback.hitPointWorld);
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result.hitNormalInWorld.set(rayCallback.hitNormalWorld);
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result.hitNormalInWorld.normalize();
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result.distFraction = rayCallback.closestHitFraction;
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return body;
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}
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}
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return null;
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}
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}
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