public override Task <Tuple <bool, double> > CheckPanelIntersectionAsync(bool targetLinkState, Vector3D linkDirection)
{
if (targetLinkState)
{
var ptPanel = ColliderExtensions.GetPanel();
if (ptPanel.HasValue)
{
if (Points.Count > 0)
{
var zDir = GetPanelFaceDirectionForLinkImpact(linkDirection);
var retPanel = ptPanel.Value;
var panelMin = retPanel.Location.ToVector3();
var panelMax = panelMin + new Vector3((float)retPanel.SizeX, (float)retPanel.SizeY, (float)retPanel.SizeZ);
var panel = new Box3(panelMin, panelMax);
var tt = TotalTransformation.Value;
var planePoint = panelMax;
var tasks = new List <Task <Tuple <bool, double> > >();
foreach (var p in Points)
{
var point = p;
tasks.Add(Task.Run(() =>
{
var pp = tt.Transform(point);
var ray = new Ray3D(pp.ToVector3(), linkDirection.ToVector3());
if (ray.PlaneIntersection(planePoint, zDir.ToVector3(), out Vector3 intersect) &&
panel.Intersects(new Sphere3(intersect, 0.001f)))
{
var pi = intersect.ToPoint3D();
var intersectValue = Vector3D.DotProduct(pi - pp, linkDirection);
return(new Tuple <bool, double>(true, intersectValue));
}
else
{
return(new Tuple <bool, double>(false, 0.0));
}
}));
}
return(Task.WhenAll(tasks).ContinueWith((t) => t.Result.FirstOrDefault(r => r.Item1) ?? new Tuple <bool, double>(false, 0.0)));
}
else
{
throw new ArgumentOutOfRangeException("The number of points of collider must be greater than 0!");
}
}
}
return(Task.FromResult(new Tuple <bool, double>(false, 0.0)));
}
public override Tuple <bool, double> CheckPanelIntersection(bool targetLinkState, Vector3D linkDirection)
{
bool result = false;
double intersectValue = 0.0;
var zDir = new Vector3D(0.0, 0.0, 1.0);
if (targetLinkState)
{
var ptPanel = ColliderExtensions.GetPanel();
if (ptPanel.HasValue)
{
var retPanel = ptPanel.Value;
var panelMin = retPanel.Location.ToVector3();
var panelMax = panelMin + new Vector3((float)retPanel.SizeX, (float)retPanel.SizeY, (float)retPanel.SizeZ);
var panel = new Box3(panelMin, panelMax);
var tt = TotalTransformation.Value;
var planePoint = panelMax;
foreach (var p in Points)
{
var pp = tt.Transform(p);
var ray = new Ray3D(pp.ToVector3(), linkDirection.ToVector3());
if (ray.PlaneIntersection(planePoint, zDir.ToVector3(), out Vector3 intersect) &&
panel.Intersects(new Sphere3(intersect, 0.001f)))
{
var pi = intersect.ToPoint3D();
result = true;
intersectValue = Vector3D.DotProduct(pi - pp, linkDirection);
break;
}
}
}
}
return(new Tuple <bool, double>(result, intersectValue));
}
