shapeCast method

@override SimShapeCastHit? shapeCast(Shape shape, Matrix4 from, Vector3 direction, double distance, { int layerMask = 0xFFFFFFFF, bool includeFixed = true, bool includeKinematic = true, bool includeDynamic = true, bool includeTriggers = false, })

Implementation

@override
SimShapeCastHit? shapeCast(
  Shape shape,
  Matrix4 from,
  Vector3 direction,
  double distance, {
  int layerMask = 0xFFFFFFFF,
  bool includeFixed = true,
  bool includeKinematic = true,
  bool includeDynamic = true,
  bool includeTriggers = false,
}) {
  if (shape is! SphereShape) {
    throw UnsupportedError(
      'BasicSimulation.shapeCast currently supports SphereShape only.',
    );
  }
  // Sphere cast = raycast against each collider's AABB inflated by the
  // sphere radius; closest hit wins.
  final origin = from.getTranslation();
  final ray = Ray.originDirection(origin, direction);
  SimShapeCastHit? best;
  _colliders.forEach((handle, collider) {
    if (!_passesFilters(
      collider,
      layerMask: layerMask,
      includeFixed: includeFixed,
      includeKinematic: includeKinematic,
      includeTriggers: includeTriggers,
    )) {
      return;
    }
    final aabb = shapeWorldAabb(collider.shape, _colliderWorldPose(collider));
    final inflated = Aabb3.minMax(
      aabb.min - Vector3.all(shape.radius),
      aabb.max + Vector3.all(shape.radius),
    );
    final hit = aabbRaycast(ray, inflated, distance);
    if (hit == null) return;
    if (best == null || hit.distance < best!.distance) {
      best = SimShapeCastHit(
        colliderHandle: handle,
        worldPoint: hit.worldPoint,
        worldNormal: hit.worldNormal,
        distance: hit.distance,
      );
    }
  });
  return best;
}