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