/// <summary>
/// <para>Casts a convex shape against the space.</para>
/// <para>Convex casts are sensitive to length; avoid extremely long convex casts for better stability and performance.</para>
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape. Avoid extremely long convex casts for better stability and performance.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="castResult">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3f sweep, Func <BroadPhaseEntry, bool> filter, out RayCastResult castResult)
{
var castResults = PhysicsResources.GetRayCastResultList();
bool didHit = ConvexCast(castShape, ref startingTransform, ref sweep, filter, castResults);
castResult = castResults.Elements[0];
for (int i = 1; i < castResults.Count; i++)
{
RayCastResult candidate = castResults.Elements[i];
if (candidate.HitData.T < castResult.HitData.T)
{
castResult = candidate;
}
}
PhysicsResources.GiveBack(castResults);
return(didHit);
}
/// <summary>
/// Tests a ray against the space.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a ray cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="result">Hit data of the ray, if any.</param>
/// <returns>Whether or not the ray hit anything.</returns>
public bool RayCast(Ray ray, float maximumLength, Func <BroadPhaseEntry, bool> filter, out RayCastResult result)
{
var resultsList = PhysicsResources.GetRayCastResultList();
bool didHit = RayCast(ray, maximumLength, filter, resultsList);
result = resultsList.Elements[0];
for (int i = 1; i < resultsList.Count; i++)
{
RayCastResult candidate = resultsList.Elements[i];
if (candidate.HitData.T < result.HitData.T)
{
result = candidate;
}
}
PhysicsResources.GiveBack(resultsList);
return(didHit);
}
/// <summary>
/// Tests a ray against the space, possibly returning multiple hits.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="outputRayCastResults">Hit data of the ray, if any.</param>
/// <returns>Whether or not the ray hit anything.</returns>
public bool RayCast(Ray ray, float maximumLength, Func <BroadPhaseEntry, bool> filter, IList <RayCastResult> outputRayCastResults)
{
var outputIntersections = PhysicsResources.GetBroadPhaseEntryList();
if (BroadPhase.QueryAccelerator.RayCast(ray, maximumLength, outputIntersections))
{
for (int i = 0; i < outputIntersections.Count; i++)
{
RayHit rayHit;
BroadPhaseEntry candidate = outputIntersections.Elements[i];
if (candidate.RayCast(ray, maximumLength, filter, out rayHit))
{
outputRayCastResults.Add(new RayCastResult(rayHit, candidate));
}
}
}
PhysicsResources.GiveBack(outputIntersections);
return(outputRayCastResults.Count > 0);
}
/// <summary>
/// <para>Casts a convex shape against the space.</para>
/// <para>Convex casts are sensitive to length; avoid extremely long convex casts for better stability and performance.</para>
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape. Avoid extremely long convex casts for better stability and performance.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="outputCastResults">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3f sweep, Func <BroadPhaseEntry, bool> filter, IList <RayCastResult> outputCastResults)
{
var overlappedElements = PhysicsResources.GetBroadPhaseEntryList();
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
BroadPhase.QueryAccelerator.GetEntries(boundingBox, overlappedElements);
for (int i = 0; i < overlappedElements.Count; ++i)
{
RayHit hit;
if (overlappedElements.Elements[i].ConvexCast(castShape, ref startingTransform, ref sweep, filter, out hit))
{
outputCastResults.Add(new RayCastResult {
HitData = hit, HitObject = overlappedElements.Elements[i]
});
}
}
PhysicsResources.GiveBack(overlappedElements);
return(outputCastResults.Count > 0);
}