public LaserRay SetLaserCollisionlessIntersect(LaserSource src, FPoint e, LaserRayTerminator t)
{
if ((Start - e).LengthSquared() < FloatMath.EPSILON4)
{
src.Lasers.Remove(this);
return(Source?.SetLaserCollisionlessIntersect(src, Source.End, t));
}
End = e;
Terminator = t;
_length = null;
_angle = null;
TerminatorRays.Clear();
#if DEBUG
if (!Start.IsValid)
{
SAMLog.Error("LASER::Assert_3-SV", "!Start.IsValid");
}
if (!End.IsValid)
{
SAMLog.Error("LASER::Assert_3-EV", "!End.IsValid");
}
if ((End - Start).LengthSquared() < FloatMath.EPSILON7 * FloatMath.EPSILON7)
{
SAMLog.Error("LASER::Assert_3-ESV", "(End - Start).LengthSquared() < FloatMath.EPSILON7 * FloatMath.EPSILON7");
}
#endif
return(this);
}
private bool TestForLaserCollision(LaserSource src1, LaserRay ray1, bool nofault)
{
float minU = float.MaxValue;
FPoint minP1 = FPoint.Zero;
FPoint minP2 = FPoint.Zero;
LaserRay minRay2 = null;
LaserSource minSrc2 = null;
bool minTermOther = false;
foreach (var src2 in Sources)
{
foreach (var ray2 in src2.Lasers)
{
if (src1 == src2 && ray1 == ray2)
{
continue;
}
// (Not only) Direct (parallel) Collision
FPoint intersect;
float u;
if (RayParallality(ray1.Start, ray1.End, ray1.SourceDistance, ray2.Start, ray2.End, ray2.SourceDistance, src1 == src2, out intersect, out u))
{
if (u < minU)
{
var pp1 = intersect.ProjectPointOntoLineSegment(ray1.Start, ray1.End);
var pp2 = intersect.ProjectPointOntoLineSegment(ray2.Start, ray2.End);
if ((pp1 - pp2).LengthSquared() < RAY_WIDTH * RAY_WIDTH)
{
minU = u;
minP1 = pp1;
minP2 = pp2;
minRay2 = ray2;
minSrc2 = src2;
minTermOther = true;
continue;
}
}
}
// Normal intersection collision
if (Math2D.LineIntersectionExt(ray1.Start, ray1.End, ray2.Start, ray2.End, -0.1f, out intersect, out u, out _))
{
if (u < minU)
{
var pp1 = intersect.ProjectPointOntoLineSegment(ray1.Start, ray1.End);
var pp2 = intersect.ProjectPointOntoLineSegment(ray2.Start, ray2.End);
if ((pp1 - pp2).LengthSquared() < RAY_WIDTH * RAY_WIDTH)
{
minU = u;
minP1 = pp1;
minP2 = pp2;
minRay2 = ray2;
minSrc2 = src2;
minTermOther = true;
continue;
}
}
}
}
}
// Collision with other intersection
foreach (var src2 in Sources)
{
foreach (var ray2 in src2.Lasers)
{
if (ray2.Terminator != LaserRayTerminator.LaserMultiTerm &&
ray2.Terminator != LaserRayTerminator.LaserFaultTerm &&
ray2.Terminator != LaserRayTerminator.LaserSelfTerm)
{
continue;
}
var hpu = ray2.End.ProjectOntoLine(ray1.Start, ray1.End);
if (hpu < minU)
{
FPoint hp = ray1.Start + (ray1.End - ray1.Start) * hpu;
if ((hp - ray2.End).LengthSquared() < RAY_WIDTH)
{
minU = hpu;
minP1 = hp;
minRay2 = ray2;
minSrc2 = src2;
minTermOther = false;
}
}
}
}
// Take best
if (minRay2 != null)
{
if (!minTermOther)
{
// we hit another ray intersection
ray1 = ray1.SetLaserIntersect(src1, minP1, minRay2, minSrc2, LaserRayTerminator.LaserMultiTerm);
if (ray1 != null)
{
foreach (var termray in minRay2.TerminatorRays)
{
if (termray.Item2 != minSrc2)
{
termray.Item1.TerminatorRays.Add(Tuple.Create(ray1, src1));
}
}
minRay2.TerminatorRays.Add(Tuple.Create(ray1, src1));
}
return(true);
}
else if (nofault)
{
// nofault mode - just terminate this one
ray1 = ray1.SetLaserCollisionlessIntersect(src1, minP1, LaserRayTerminator.LaserFaultTerm);
return(true);
}
else if (src1 == minSrc2)
{
// we hit ourself
ray1 = ray1.SetLaserCollisionlessIntersect(src1, minP1, LaserRayTerminator.LaserSelfTerm);
if (ray1 != null)
{
minRay2.SelfCollRays.Add(ray1);
foreach (var r in ray1.SelfCollRays)
{
_faultRays.Add(Tuple.Create(r, src1));
}
ray1.SelfCollRays.Clear();
}
return(true);
}
else
{
// we hit someone else
ray1 = ray1.SetLaserIntersect(src1, minP1, minRay2, minSrc2, LaserRayTerminator.LaserMultiTerm);
if (ray1 != null)
{
foreach (var r in ray1.SelfCollRays)
{
_faultRays.Add(Tuple.Create(r, src1));
}
ray1.SelfCollRays.Clear();
}
CutRayAndUpdate(minSrc2, minRay2, minP2, src1, ray1);
return(true);
}
}
return(false);
}
