Question about sweeping/casting shapes

[cr4yz]

This is what I've found for casting a box:

foreach ( var worldShape in PhysicsWorld.Shapes )
{
  var sweep = NarrowPhase.SweepTest( worldShape, shape, JQuaternion.Identity, JQuaternion.Identity, worldShape.RigidBody.Position, origin, JVector.Zero, direction, out var pointA, out var pointB, out var sweepNormal, out var sweepFraction );
  var dist = sweepFraction * direction.Length();
  if ( sweep && dist <= maxDistance )
  {
    var dirNormal = direction;
    dirNormal.Normalize();
    result.Hit = true;
    result.Normal = ToOpenTK( sweepNormal );
    result.Object = shape.RigidBody?.Tag as MapObject;
    result.Position = ToOpenTK( origin + (dirNormal * maxDistance) * sweepFraction );
    break;
  }
}

But it's not ideal. Is there something built-in to help with sweeps/shape casts?

[notgiven688]

There is no built-in functionality like with raycasting, but you can improve this:

// Untested code

// Recalculate the current axis aligned bounding box of your shape
shape.UpdateWorldBoundingBox();

// Expand the bounding box along the direction to test
shape.SweptExpandBoundingBox(direction);

// Gather all candidates from the world which intersect this bounding box
var candidates = new List<Shapes>();
world.DynamicTree.Query(candidates, shape.WorldBoundingBox)

// Your previous code, looping over the candidates, instead of all shapes
(...)

[cr4yz]

That'll work nicely, thank you