/// <summary>
/// Performs a raycast against the mesh triangles and returns info
/// about the closest hit or null if no triangle was hit by the ray.
/// </summary>
/// <param name="meshTransform">
/// The mesh transform which brings the mesh in the same space as the
/// ray.
/// </param>
/// <remarks>
/// This method will build the tree if it hasn't already been built.
/// </remarks>
public MeshRayHit RaycastClosest(Ray ray, Matrix4x4 meshTransform)
{
// Build the tree if it hasn't already been built
if (!_isBuilt)
{
Build();
}
// Work in mesh local space by transforming the ray by the inverse of
// the mesh transform. It is faster to perform this transformation here
// instead of transforming every possibly hit triangle by 'meshTransform'.
Ray modelSpaceRay = ray.InverseTransform(meshTransform);
// Get the list of tree nodes which are hit by the ray
if (!_tree.RaycastAll(modelSpaceRay, _nodeHitBuffer))
{
return(null);
}
// Store data in preparation for closest hit identification
float t;
float minT = float.MaxValue;
MeshTriangle closestTriangle = null;
bool foundTriangle = false;
// Loop through each node hit
foreach (var nodeHit in _nodeHitBuffer)
{
// Get the associated mesh triangle and check if the ray intersects it
MeshTriangle meshTriangle = nodeHit.HitNode.Data;
if (TriangleMath.Raycast(modelSpaceRay, out t, meshTriangle.Vertex0, meshTriangle.Vertex1, meshTriangle.Vertex2))
{
if (Vector3.Dot(modelSpaceRay.direction, meshTriangle.Normal) < 0.0f)
{
// If the intersection offset is smaller than what we have so far,
// it means we have a new closest hit.
if (t < minT)
{
minT = t;
closestTriangle = meshTriangle;
foundTriangle = true;
}
}
}
}
// If we found a triangle, we can return the mesh ray hit information
if (foundTriangle)
{
// Convert the t value in world space. Do the same for the normal.
Vector3 worldHit = meshTransform.MultiplyPoint(modelSpaceRay.GetPoint(minT));
minT = (ray.origin - worldHit).magnitude / ray.direction.magnitude;
Vector3 transformedNormal = meshTransform.inverse.transpose.MultiplyVector(closestTriangle.Normal).normalized;
// Return the hit instance
return(new MeshRayHit(ray, closestTriangle.TriangleIndex, minT, transformedNormal));
}
return(null);
}
public override bool Raycast(Ray ray, out float t)
{
var trianglePoints = GetPoints();
if (_raycastMode == Shape3DRaycastMode.Solid)
{
return(TriangleMath.Raycast(ray, out t, trianglePoints[0], trianglePoints[1], trianglePoints[2], _epsilon));
}
else
{
return(TriangleMath.RaycastWire(ray, out t, trianglePoints[0], trianglePoints[1], trianglePoints[2], _epsilon));
}
}
public override bool Raycast(Ray ray, out float t)
{
return(TriangleMath.Raycast(ray, out t, GetPoint(EqTrianglePoint.Left), GetPoint(EqTrianglePoint.Top), GetPoint(EqTrianglePoint.Right), _epsilon));
}
public static bool RaycastTriangular(Ray ray, out float t, Vector3 baseCenter,
float baseWidth, float baseDepth, float topWidth, float topDepth, float height, Quaternion prismRotation)
{
t = 0.0f;
if (baseWidth == 0.0f || baseDepth == 0.0f ||
topWidth == 0.0f || topDepth == 0.0f || height == 0.0f)
{
return(false);
}
baseWidth = Mathf.Abs(baseWidth);
baseDepth = Mathf.Abs(baseDepth);
topWidth = Mathf.Abs(topWidth);
topDepth = Mathf.Abs(topDepth);
ray = ray.InverseTransform(Matrix4x4.TRS(baseCenter, prismRotation, Vector3.one));
// Since the raycast calculations can be quite expensive for a prism, we will
// first check if the ray intersects its AABB to quickly return false if no
// intersection is found. If the ray does not intersect the AABB it can not
// possibly intersect the prism.
Vector3 aabbSize = Vector3.Max(new Vector3(baseWidth, height, baseDepth), new Vector3(topWidth, height, topDepth));
if (!BoxMath.Raycast(ray, Vector3.up * height * 0.5f, aabbSize, Quaternion.identity))
{
return(false);
}
List <Vector3> cornerPoints = CalcTriangPrismCornerPoints(Vector3.zero, baseWidth, baseDepth, topWidth, topDepth, height, Quaternion.identity);
Vector3 baseLeftPt = cornerPoints[(int)TriangularPrismCorner.BaseLeft];
Vector3 baseRightPt = cornerPoints[(int)TriangularPrismCorner.BaseRight];
Vector3 baseForwardPt = cornerPoints[(int)TriangularPrismCorner.BaseForward];
Vector3 topLeftPt = cornerPoints[(int)TriangularPrismCorner.TopLeft];
Vector3 topRightPt = cornerPoints[(int)TriangularPrismCorner.TopRight];
Vector3 topForwardPt = cornerPoints[(int)TriangularPrismCorner.TopForward];
List <float> tValues = new List <float>(5);
// Base triangle
float rayEnter;
if (TriangleMath.Raycast(ray, out rayEnter, baseLeftPt, baseRightPt, baseForwardPt))
{
tValues.Add(rayEnter);
}
// Top triangle
if (TriangleMath.Raycast(ray, out rayEnter, topLeftPt, topForwardPt, topRightPt))
{
tValues.Add(rayEnter);
}
// Back face
List <Vector3> facePoints = new List <Vector3>(4)
{
baseLeftPt, topLeftPt, topRightPt, baseRightPt
};
Vector3 faceNormal = Vector3.Cross((facePoints[1] - facePoints[0]), facePoints[3] - facePoints[0]).normalized;
if (PolygonMath.Raycast(ray, out rayEnter, facePoints, false, faceNormal))
{
tValues.Add(rayEnter);
}
// Left face
// facePoints[0] = baseLeftPt;
facePoints[1] = baseForwardPt;
facePoints[2] = topForwardPt;
facePoints[3] = topLeftPt;
faceNormal = Vector3.Cross((facePoints[1] - facePoints[0]), facePoints[3] - facePoints[0]).normalized;
if (PolygonMath.Raycast(ray, out rayEnter, facePoints, false, faceNormal))
{
tValues.Add(rayEnter);
}
// Right face
facePoints[0] = baseRightPt;
facePoints[1] = topRightPt;
// facePoints[2] = topForwardPt;
facePoints[3] = baseForwardPt;
faceNormal = Vector3.Cross((facePoints[1] - facePoints[0]), facePoints[3] - facePoints[0]).normalized;
if (PolygonMath.Raycast(ray, out rayEnter, facePoints, false, faceNormal))
{
tValues.Add(rayEnter);
}
if (tValues.Count == 0)
{
return(false);
}
tValues.Sort(delegate(float t0, float t1) { return(t0.CompareTo(t1)); });
t = tValues[0];
return(true);
}