public bool GetIntersectingPolygon(Ray ray, Matrix world, out OCTreeIntersection intersection)
{
intersection = new OCTreeIntersection();
var matrix = Matrix.Invert(world);
ray.Position = Vector3.Transform(ray.Position, matrix);
ray.Direction = Vector3.TransformNormal(ray.Direction, matrix);
ray.Direction.Normalize();
var intersectingPolygon = Root.GetIntersectingPolygon(ref ray, ref intersection);
if (intersectingPolygon)
{
intersection.IntersectionPoint = Vector3.Transform(intersection.IntersectionPoint, world);
intersection.IntersectionNormal = Vector3.TransformNormal(intersection.IntersectionNormal, world);
intersection.IntersectionNormal.Normalize();
intersection.IntersectType = OCTreeIntersectionType.Inside;
intersection.DistanceSquared = Vector3.DistanceSquared(ray.Position, intersection.IntersectionPoint);
}
return intersectingPolygon;
}
public bool GetIntersectingPolygon(ref Ray ray, ref OCTreeIntersection closest)
{
if (Indices != null)
{
var nullable = ray.Intersects(Bounds);
if (nullable.HasValue)
{
var num = (closest.IntersectType == OCTreeIntersectionType.None) ? float.MaxValue : closest.DistanceSquared;
if (nullable.Value < num)
{
for (var i = 0; i < (Indices.Length / 3); i++)
{
float num2;
float num3;
float num4;
if (Intersection.RayTriangleIntersect(ray.Position, ray.Direction, Vertices[Indices[i * 3]], Vertices[Indices[(i * 3) + 1]], Vertices[Indices[(i * 3) + 2]], out num2, out num3, out num4))
{
var vector = ray.Position + ((ray.Direction * num2));
var num6 = Vector3.DistanceSquared(vector, ray.Position);
if (num6 < num)
{
num = num6;
closest.IntersectionNormal = MathExtensions.NormalFromPoints(Vertices[Indices[i * 3]], Vertices[Indices[(i * 3) + 1]], Vertices[Indices[(i * 3) + 2]]);
closest.IntersectionPoint = vector;
closest.Node = this;
closest.PolygonIndex = i;
closest.DistanceSquared = num6;
closest.IntersectType = OCTreeIntersectionType.Inside;
}
}
}
}
}
}
else if (Children != null)
{
for (var j = 0; j < Children.Length; j++)
{
Children[j].GetIntersectingPolygon(ref ray, ref closest);
}
}
return (closest.IntersectType != OCTreeIntersectionType.None);
}
public bool UpdateIntersection(ref OCTreeIntersection intersection, ref BoundingSphere sphere, ref Vector3 velocityNormal)
{
OCTreeIntersection intersection2;
if (GetIntersection(ref sphere, ref velocityNormal, intersection.PolygonIndex, out intersection2))
{
intersection = intersection2;
}
else
{
intersection.IntersectType = OCTreeIntersectionType.None;
}
return (intersection.IntersectType != OCTreeIntersectionType.None);
}
public bool GetIntersection(ref BoundingSphere sphere, ref Vector3 velocityNormal, int polyIndex, out OCTreeIntersection intersection)
{
var flag = false;
intersection = new OCTreeIntersection();
var plane = Planes[polyIndex];
if (plane.DotNormal(velocityNormal) < 0f)
{
if (plane.DotCoordinate(sphere.Center) < 0f)
{
return false;
}
if (plane.Intersects(sphere) != PlaneIntersectionType.Intersecting)
{
return false;
}
var a = Vertices[Indices[polyIndex * 3]];
var b = Vertices[Indices[(polyIndex * 3) + 1]];
var c = Vertices[Indices[(polyIndex * 3) + 2]];
var p = Intersection.ClosestPointOnPlane(sphere.Center, plane);
if (Intersection.PointInTriangle(p, a, b, c))
{
intersection.IntersectionPoint = p;
intersection.IntersectionNormal = plane.Normal;
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(p, sphere.Center);
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
intersection.IntersectType = OCTreeIntersectionType.Inside;
flag = true;
}
else
{
float num;
Vector3 vector5;
if (sphere.Contains(a) != ContainmentType.Disjoint)
{
intersection.IntersectionPoint = a;
intersection.IntersectionNormal = Vector3.Normalize(sphere.Center - a);
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(a, sphere.Center);
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
intersection.IntersectType = OCTreeIntersectionType.Point;
return true;
}
if (sphere.Contains(b) != ContainmentType.Disjoint)
{
intersection.IntersectionPoint = b;
intersection.IntersectionNormal = Vector3.Normalize(sphere.Center - b);
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(b, sphere.Center);
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
intersection.IntersectType = OCTreeIntersectionType.Point;
return true;
}
if (sphere.Contains(c) != ContainmentType.Disjoint)
{
intersection.IntersectionPoint = c;
intersection.IntersectionNormal = Vector3.Normalize(sphere.Center - c);
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(c, sphere.Center);
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
intersection.IntersectType = OCTreeIntersectionType.Point;
return true;
}
Intersection.ClosestPointOnSegment(sphere.Center, a, b, out num, out vector5);
if (sphere.Contains(vector5) != ContainmentType.Disjoint)
{
intersection.IntersectionPoint = vector5;
intersection.IntersectionNormal = Vector3.Normalize(sphere.Center - vector5);
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(vector5, sphere.Center);
intersection.IntersectType = OCTreeIntersectionType.Edge;
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
return true;
}
Intersection.ClosestPointOnSegment(sphere.Center, b, c, out num, out vector5);
if (sphere.Contains(vector5) != ContainmentType.Disjoint)
{
intersection.IntersectionPoint = vector5;
intersection.IntersectionNormal = Vector3.Normalize(sphere.Center - vector5);
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(vector5, sphere.Center);
intersection.IntersectType = OCTreeIntersectionType.Edge;
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
flag = true;
}
else
{
Intersection.ClosestPointOnSegment(sphere.Center, c, a, out num, out vector5);
if (sphere.Contains(vector5) != ContainmentType.Disjoint)
{
intersection.IntersectionPoint = vector5;
intersection.IntersectionNormal = Vector3.Normalize(sphere.Center - vector5);
intersection.IntersectionDepth = sphere.Radius - Vector3.Distance(vector5, sphere.Center);
intersection.IntersectType = OCTreeIntersectionType.Edge;
intersection.Node = this;
intersection.PolygonIndex = polyIndex;
flag = true;
}
}
}
}
return flag;
}
public bool GetIntersectingPolygon(ref Ray ray, out OCTreeIntersection intersection)
{
intersection = new OCTreeIntersection();
return Root.GetIntersectingPolygon(ref ray, ref intersection);
}
