bool IRaySegmentsCollidable.TryGetRayCollision(Body thisBody, Body raysBody, RaySegmentsShape raySegments, out RaySegmentIntersectionInfo info)
{
bool intersects = false;
RaySegment[] segments = raySegments.Segments;
Scalar[] result = new Scalar[segments.Length];
Scalar temp;
Vector2D[][] polygons = this.Polygons;
for (int index = 0; index < segments.Length; ++index)
{
result[index] = -1;
}
Matrix2x3 matrix = raysBody.Matrices.ToBody * thisBody.Matrices.ToWorld;
for (int polyIndex = 0; polyIndex < polygons.Length; ++polyIndex)
{
Vector2D[] unTrans = polygons[polyIndex];
Vector2D[] polygon = new Vector2D[unTrans.Length];
for (int index = 0; index < unTrans.Length; ++index)
{
Vector2D.Transform(ref matrix, ref unTrans[index], out polygon[index]);
}
BoundingRectangle rect;
BoundingRectangle.FromVectors(polygon, out rect);
BoundingPolygon poly = new BoundingPolygon(polygon);
for (int index = 0; index < segments.Length; ++index)
{
RaySegment segment = segments[index];
rect.Intersects(ref segment.RayInstance, out temp);
if (temp >= 0 && temp <= segment.Length)
{
poly.Intersects(ref segment.RayInstance, out temp);
if (temp >= 0 && temp <= segment.Length)
{
if (result[index] == -1 || temp < result[index])
{
result[index] = temp;
}
intersects = true;
}
}
}
}
if (intersects)
{
info = new RaySegmentIntersectionInfo(result);
}
else
{
info = null;
}
return(intersects);
}
bool IRaySegmentsCollidable.TryGetRayCollision(Body thisBody, Body raysBody, RaySegmentsShape raySegments, out RaySegmentIntersectionInfo info)
{
bool intersects = false;
RaySegment[] segments = raySegments.Segments;
Scalar[] result = new Scalar[segments.Length];
BoundingCircle bounding = new BoundingCircle(Vector2D.Zero, this.radius);
Matrix2x3 vertexM = thisBody.Matrices.ToBody * raysBody.Matrices.ToWorld;
for (int index = 0; index < segments.Length; ++index)
{
RaySegment segment = segments[index];
Ray ray2;
Vector2D.Transform(ref vertexM, ref segment.RayInstance.Origin, out ray2.Origin);
Vector2D.TransformNormal(ref vertexM, ref segment.RayInstance.Direction, out ray2.Direction);
Scalar temp;
bounding.Intersects(ref ray2, out temp);
if (temp >= 0 && temp <= segment.Length)
{
intersects = true;
result[index] = temp;
continue;
}
else
{
result[index] = -1;
}
}
if (intersects)
{
info = new RaySegmentIntersectionInfo(result);
}
else
{
info = null;
}
return(intersects);
}
bool IRaySegmentsCollidable.TryGetRayCollision(Body thisBody, Body raysBody, RaySegmentsShape raySegments, out RaySegmentIntersectionInfo info)
{
bool intersects = false;
RaySegment[] segments = raySegments.Segments;
Scalar[] result = new Scalar[segments.Length];
BoundingCircle bounding = new BoundingCircle(Vector2D.Zero, this.radius);
Matrix2x3 vertexM = thisBody.Matrices.ToBody * raysBody.Matrices.ToWorld;
for (int index = 0; index < segments.Length; ++index)
{
RaySegment segment = segments[index];
Ray ray2;
Vector2D.Transform(ref vertexM, ref segment.RayInstance.Origin, out ray2.Origin);
Vector2D.TransformNormal(ref vertexM, ref segment.RayInstance.Direction, out ray2.Direction);
Scalar temp;
bounding.Intersects(ref ray2, out temp);
if (temp >= 0 && temp <= segment.Length)
{
intersects = true;
result[index] = temp;
continue;
}
else
{
result[index] = -1;
}
}
if (intersects)
{
info = new RaySegmentIntersectionInfo(result);
}
else
{
info = null;
}
return intersects;
}
bool IRaySegmentsCollidable.TryGetRayCollision(Body thisBody, Body raysBody, RaySegmentsShape raySegments, out RaySegmentIntersectionInfo info)
{
bool intersects = false;
RaySegment[] segments = raySegments.Segments;
Scalar[] result = new Scalar[segments.Length];
Scalar temp;
Vector2D[][] polygons = this.Polygons;
for (int index = 0; index < segments.Length; ++index)
{
result[index] = -1;
}
Matrix2x3 matrix = raysBody.Matrices.ToBody * thisBody.Matrices.ToWorld;
for (int polyIndex = 0; polyIndex < polygons.Length; ++polyIndex)
{
Vector2D[] unTrans = polygons[polyIndex];
Vector2D[] polygon = new Vector2D[unTrans.Length];
for (int index = 0; index < unTrans.Length; ++index)
{
Vector2D.Transform(ref matrix, ref unTrans[index], out polygon[index]);
}
BoundingRectangle rect;
BoundingRectangle.FromVectors(polygon, out rect);
BoundingPolygon poly = new BoundingPolygon(polygon);
for (int index = 0; index < segments.Length; ++index)
{
RaySegment segment = segments[index];
rect.Intersects(ref segment.RayInstance, out temp);
if (temp >= 0 && temp <= segment.Length)
{
poly.Intersects(ref segment.RayInstance, out temp);
if (temp >= 0 && temp <= segment.Length)
{
if (result[index] == -1 || temp < result[index])
{
result[index] = temp;
}
intersects = true;
}
}
}
}
if (intersects)
{
info = new RaySegmentIntersectionInfo(result);
}
else
{
info = null;
}
return intersects;
}