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BulletSim: most of the plumbing for raycast. Needs new BulletSim.dll to

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work.
This commit is contained in:
Robert Adams
2017-09-02 13:06:36 -07:00
parent 22c7450363
commit 0afa3a294a
8 changed files with 252 additions and 0 deletions
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7
OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
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@@ -128,6 +128,7 @@ public struct RaycastHit
public UInt32 ID;
public float Fraction;
public Vector3 Normal;
public Vector3 Point;
}
[StructLayout(LayoutKind.Sequential)]
public struct CollisionDesc
@@ -741,6 +742,12 @@ public abstract void SetMargin(BulletShape shape, float val);
public abstract float GetMargin(BulletShape shape);
// =====================================================================================
// Raycast
public abstract SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin);
public abstract RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }