reactphysics3d　碰撞檢測

box

	rp3d :: CollisionWorld world ;
	rp3d :: Vector3 initPosition (0.0 , 0.0 , 0.0) ;
	rp3d :: Quaternion initOrientation = rp3d :: Quaternion ::identity () ;
	rp3d :: Transform transform ( initPosition , initOrientation ) ;
	rp3d :: CollisionBody * body ;
	body = world.createCollisionBody(transform) ;
	
	rp3d ::BoxShape *box = new rp3d ::BoxShape(rp3d ::Vector3(2.f,3.f, 5.f));
	rp3d::Transform transform2 = rp3d:: Transform :: identity () ;
	rp3d :: ProxyShape * proxyShape ;
	proxyShape = body->addCollisionShape (box , transform2);
	
	rp3d::Vector3 startPoint (2 , 3 , 5);
	rp3d:: Vector3 endPoint (-4 , -6 , 10) ;
	rp3d::Ray ray (startPoint , endPoint) ;
	rp3d::RaycastInfo raycastInfo ;
	bool isHit = body->raycast(ray,raycastInfo ) ;
	std::cout << isHit << std::endl;
	body->removeCollisionShape ( proxyShape ) ;

concaveMesh

    reactphysics3d :: CollisionWorld world ;
    reactphysics3d :: Vector3 initPosition (0.0 , 0.0 , 0.0) ;
    reactphysics3d :: Quaternion initOrientation = rp3d :: Quaternion ::identity () ;
    reactphysics3d :: Transform transform ( initPosition , initOrientation ) ;
    reactphysics3d :: CollisionBody * body ;
    body = world.createCollisionBody(transform) ;


    float vertices [9];
    vertices [0] = -3; vertices [1] = -3; vertices [2] = 3;
    vertices [3] = 3; vertices [4] = -3; vertices [5] = 3;
    vertices [6] = 0; vertices [7] = 3; vertices [8] = 3;


    int indices [3];
    indices [0]=0; indices [1]=3; indices [2]=2;

    const int nbVertices = 3;
    const int nbTriangles = 1;
//    float vertices [3 * nbVertices ] = ...;
//    int indices [3 * nbTriangles ] = ...;
    reactphysics3d :: TriangleVertexArray * triangleArray =
            new reactphysics3d :: TriangleVertexArray ( nbVertices , vertices , 3 * sizeof ( float ) , nbTriangles ,
            indices , 3 * sizeof ( int ) ,
            reactphysics3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE ,
            reactphysics3d::TriangleVertexArray::IndexDataType ::INDEX_INTEGER_TYPE ) ;

    reactphysics3d :: TriangleMesh triangleMesh ;
    triangleMesh.addSubpart(triangleArray);
    reactphysics3d::ConcaveMeshShape * concaveMesh = new reactphysics3d :: ConcaveMeshShape (&
                                                    triangleMesh ) ;
    rp3d :: ProxyShape * proxyShape ;
    proxyShape = body->addCollisionShape (concaveMesh , rp3d::Transform::identity());
    reactphysics3d::Vector3 startPoint (0 , 0 , 0);
    reactphysics3d:: Vector3 endPoint (0 , 0 , 10) ;
    reactphysics3d::Ray ray ( startPoint , endPoint ) ;
    reactphysics3d::RaycastInfo raycastInfo ;
    bool isHit = body->raycast(ray,raycastInfo ) ;
    std::cout << isHit << std::endl;
    body->removeCollisionShape ( proxyShape ) ;