private bool CircleCastVertices(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
float sqrRadius = radius * radius;
bool castHit = false;
for (int i = 0; i < this.countBody; i++)
{
castHit |=
Collision.CircleRayCast(
this,
this.bodyVertices[i],
sqrRadius,
ref bodySpaceRay,
ref result);
if (result.IsContained == true)
{
return(true);
}
}
return(castHit);
}
/// <summary>
/// A cheap ray test that requires some precomputed information.
/// Adapted from: http://www.cs.utah.edu/~awilliam/box/box.pdf
/// </summary>
private static bool RayCast(
ref VoltRayCast ray,
Fix64 top,
Fix64 bottom,
Fix64 left,
Fix64 right)
{
Fix64 txmin =
((ray.signX ? right : left) - ray.origin.x) *
ray.invDirection.x;
Fix64 txmax =
((ray.signX ? left : right) - ray.origin.x) *
ray.invDirection.x;
Fix64 tymin =
((ray.signY ? top : bottom) - ray.origin.y) *
ray.invDirection.y;
Fix64 tymax =
((ray.signY ? bottom : top) - ray.origin.y) *
ray.invDirection.y;
if ((txmin > tymax) || (tymin > txmax))
{
return(false);
}
if (tymin > txmin)
{
txmin = tymin;
}
if (tymax < txmax)
{
txmax = tymax;
}
return((txmax > Fix64.Zero) && (txmin < ray.distance));
}
public void CircleCast(
ref VoltRayCast ray,
float radius,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
/// <summary>
/// Performs a circle cast on all world bodies.
/// </summary>
public bool CircleCast(
ref VoltRayCast ray,
Fix64 radius,
ref VoltRayResult result,
VoltBodyFilter filter = null,
int ticksBehind = 0)
{
if (ticksBehind < 0)
{
throw new ArgumentOutOfRangeException("ticksBehind");
}
this.reusableBuffer.Clear();
this.staticBroadphase.CircleCast(ref ray, radius, this.reusableBuffer);
this.dynamicBroadphase.CircleCast(ref ray, radius, this.reusableBuffer);
for (int i = 0; i < this.reusableBuffer.Count; i++)
{
VoltBody body = this.reusableBuffer[i];
if (VoltBody.Filter(body, filter))
{
body.CircleCast(ref ray, radius, ref result, ticksBehind);
if (result.IsContained)
{
return(true);
}
}
}
return(result.IsValid);
}
internal VoltRayCast WorldToBodyRay(ref VoltRayCast rayCast)
{
return new VoltRayCast(
this.WorldToBodyPoint(rayCast.origin),
this.WorldToBodyDirection(rayCast.direction),
rayCast.distance);
}
public void CircleCast(
ref VoltRayCast ray,
float radius,
VoltBuffer <VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
void OnDrawGizmos()
{
VolatileWorld world = VolatileWorld.Instance;
if ((world != null) && (Application.isPlaying == true))
{
VoltRayResult result = new VoltRayResult();
VoltRayCast cast =
new VoltRayCast(
transform.position,
transform.position + (transform.up * 100.0f));
if (this.radius > 0.0f)
world.World.CircleCast(ref cast, this.radius, ref result, this.Filter, -this.frameOffset);
else
world.World.RayCast(ref cast, ref result, this.Filter, -this.frameOffset);
float drawRadius = (this.radius == 0.0f) ? 0.2f : this.radius;
Gizmos.color = this.color;
if (result.IsValid == true)
{
Vector2 point = transform.position + (transform.up * result.Distance);
Gizmos.DrawLine(transform.position, point);
Gizmos.DrawWireSphere(point,drawRadius);
}
else
{
Gizmos.DrawLine(transform.position, transform.position + (transform.up * 100.0f));
}
}
}
/// <summary>
/// A cheap ray test that requires some precomputed information.
/// Adapted from: http://www.cs.utah.edu/~awilliam/box/box.pdf
/// </summary>
private static bool RayCast(
ref VoltRayCast ray,
float top,
float bottom,
float left,
float right)
{
float txmin =
((ray.signX ? right : left) - ray.origin.x) *
ray.invDirection.x;
float txmax =
((ray.signX ? left : right) - ray.origin.x) *
ray.invDirection.x;
float tymin =
((ray.signY ? top : bottom) - ray.origin.y) *
ray.invDirection.y;
float tymax =
((ray.signY ? bottom : top) - ray.origin.y) *
ray.invDirection.y;
if ((txmin > tymax) || (tymin > txmax))
{
return(false);
}
if (tymin > txmin)
{
txmin = tymin;
}
if (tymax < txmax)
{
txmax = tymax;
}
return((txmax > 0.0f) && (txmin < ray.distance));
}
internal VoltRayCast WorldToBodyRay(ref VoltRayCast rayCast)
{
return(new VoltRayCast(
this.WorldToBodyPoint(rayCast.origin),
this.WorldToBodyDirection(rayCast.direction),
rayCast.distance));
}
/// <summary>
/// Checks a ray against a circle with a given origin and square radius.
/// </summary>
internal static bool CircleRayCast(
VoltShape shape,
Vector2 shapeOrigin,
float sqrRadius,
ref VoltRayCast ray,
ref VoltRayResult result)
{
Vector2 toOrigin = shapeOrigin - ray.origin;
if (toOrigin.sqrMagnitude < sqrRadius)
{
result.SetContained(shape);
return true;
}
float slope = Vector2.Dot(toOrigin, ray.direction);
if (slope < 0)
return false;
float sqrSlope = slope * slope;
float d = sqrRadius + sqrSlope - Vector2.Dot(toOrigin, toOrigin);
if (d < 0)
return false;
float dist = slope - Mathf.Sqrt(d);
if (dist < 0 || dist > ray.distance)
return false;
// N.B.: For historical raycasts this normal will be wrong!
// Must be either transformed back to world or invalidated later.
Vector2 normal = (dist * ray.direction - toOrigin).normalized;
result.Set(shape, dist, normal);
return true;
}
private void ExplosionCallback(
VoltRayCast rayCast,
VoltRayResult rayResult,
float rayWeight)
{
Vector2 point = rayResult.ComputePoint(ref rayCast);
this.hits.Add(point);
}
/// <summary>
/// Note: This doesn't take rounded edges into account.
/// </summary>
public bool CircleCastApprox(ref VoltRayCast ray, float radius)
{
return(VoltAABB.RayCast(
ref ray,
this.top + radius,
this.bottom - radius,
this.left - radius,
this.right + radius));
}
public bool RayCast(ref VoltRayCast ray)
{
return(VoltAABB.RayCast(
ref ray,
this.top,
this.bottom,
this.left,
this.right));
}
protected override bool ShapeRayCast(
ref VoltRayCast bodySpaceRay,
ref VoltRayResult result)
{
return(Collision.CircleRayCast(
this,
this.bodySpaceOrigin,
this.sqrRadius,
ref bodySpaceRay,
ref result));
}
/// <summary>
/// Performs a raycast check on this shape.
/// Begins with an AABB check.
/// </summary>
internal bool RayCast(
ref VoltRayCast bodySpaceRay,
ref VoltRayResult result)
{
// Queries and casts on shapes are always done in body space
if (this.bodySpaceAABB.RayCast(ref bodySpaceRay))
{
return(this.ShapeRayCast(ref bodySpaceRay, ref result));
}
return(false);
}
/// <summary>
/// Performs a circlecast check on this shape.
/// Begins with an AABB check.
/// </summary>
internal bool CircleCast(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
// Queries and casts on shapes are always done in body space
if (this.bodySpaceAABB.CircleCastApprox(ref bodySpaceRay, radius))
{
return(this.ShapeCircleCast(ref bodySpaceRay, radius, ref result));
}
return(false);
}
public void RayCast(
ref VoltRayCast ray,
VoltBuffer <VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.RayCast(ref ray))
{
this.ExpandNode(node, outBuffer);
}
}
}
protected override bool ShapeCircleCast(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
float totalRadius = this.radius + radius;
return(Collision.CircleRayCast(
this,
this.bodySpaceOrigin,
totalRadius * totalRadius,
ref bodySpaceRay,
ref result));
}
public void CircleCast(
ref VoltRayCast ray,
Fix64 radius,
VoltBuffer <VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.CircleCastApprox(ref ray, radius))
{
this.ExpandNode(node, outBuffer);
}
}
}
public void PerformExplosion(
TSVector2 origin,
FP radius,
VoltExplosionCallback callback,
VoltBodyFilter targetFilter = null,
VoltBodyFilter occlusionFilter = null,
int ticksBehind = 0,
int rayCount = 32)
{
if (ticksBehind < 0)
{
throw new ArgumentOutOfRangeException("ticksBehind");
}
// Get all target bodies
this.PopulateFiltered(
origin,
radius,
targetFilter,
ticksBehind,
ref this.targetBodies);
// Get all occluding bodies
this.PopulateFiltered(
origin,
radius,
occlusionFilter,
ticksBehind,
ref this.occludingBodies);
VoltRayCast ray;
FP rayWeight = 1.0f / rayCount;
FP angleIncrement = (TSMath.Pi * 2.0f) * rayWeight;
for (int i = 0; i < rayCount; i++)
{
TSVector2 normal = VoltMath.Polar(angleIncrement * i);
ray = new VoltRayCast(origin, normal, radius);
FP minDistance =
this.GetOccludingDistance(ray, ticksBehind);
minDistance += VoltWorld.EXPLOSION_OCCLUDER_SLOP;
this.TestTargets(ray, callback, ticksBehind, minDistance, rayWeight);
}
}
/// <summary>
/// Checks a ray against a circle with a given origin and square radius.
/// </summary>
internal static bool CircleRayCast(
VoltShape shape,
Vector2 shapeOrigin,
float sqrRadius,
ref VoltRayCast ray,
ref VoltRayResult result)
{
Vector2 toOrigin = shapeOrigin - ray.origin;
if (toOrigin.sqrMagnitude < sqrRadius)
{
result.SetContained(shape);
return(true);
}
float slope = Vector2.Dot(toOrigin, ray.direction);
if (slope < 0)
{
return(false);
}
float sqrSlope = slope * slope;
float d = sqrRadius + sqrSlope - Vector2.Dot(toOrigin, toOrigin);
if (d < 0)
{
return(false);
}
float dist = slope - Mathf.Sqrt(d);
if (dist < 0 || dist > ray.distance)
{
return(false);
}
// N.B.: For historical raycasts this normal will be wrong!
// Must be either transformed back to world or invalidated later.
Vector2 normal = (dist * ray.direction - toOrigin).normalized;
result.Set(shape, dist, normal);
return(true);
}
protected override bool ShapeCircleCast(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
bool checkVertices =
this.CircleCastVertices(
ref bodySpaceRay,
radius,
ref result);
bool checkEdges =
this.CircleCastEdges(
ref bodySpaceRay,
radius,
ref result);
// We need to check both to get the closest hit distance
return(checkVertices || checkEdges);
}
/// <summary>
/// Tests all valid explosion targets for a given ray.
/// </summary>
private void TestTargets(
VoltRayCast ray,
VoltExplosionCallback callback,
int ticksBehind,
FP minOccluderDistance,
FP rayWeight)
{
for (int i = 0; i < this.targetBodies.Count; i++)
{
VoltBody targetBody = this.targetBodies[i];
VoltRayResult result = default(VoltRayResult);
if (targetBody.RayCast(ref ray, ref result, ticksBehind))
{
if (result.Distance < minOccluderDistance)
{
callback.Invoke(ray, result, rayWeight);
}
}
}
}
/// <summary>
/// Gets the distance to the closest occluder for the given ray.
/// </summary>
private FP GetOccludingDistance(
VoltRayCast ray,
int ticksBehind)
{
FP distance = FP.MaxValue;
VoltRayResult result = default(VoltRayResult);
for (int i = 0; i < this.occludingBodies.Count; i++)
{
if (this.occludingBodies[i].RayCast(ref ray, ref result, ticksBehind))
{
distance = result.Distance;
}
if (result.IsContained)
{
break;
}
}
return(distance);
}
/// <summary>
/// Performs a circle cast check on this body.
/// Begins with AABB checks.
/// </summary>
internal bool CircleCast(
ref VoltRayCast ray,
FP radius,
ref VoltRayResult result,
int ticksBehind,
bool bypassAABB = false)
{
HistoryRecord record = this.GetState(ticksBehind);
// AABB check done in world space (because it keeps changing)
if (bypassAABB == false)
{
if (record.aabb.CircleCastApprox(ref ray, radius) == false)
{
return(false);
}
}
// Actual tests on shapes done in body space
VoltRayCast bodySpaceRay = record.WorldToBodyRay(ref ray);
for (int i = 0; i < this.shapeCount; i++)
{
if (this.shapes[i].CircleCast(ref bodySpaceRay, radius, ref result))
{
if (result.IsContained)
{
return(true);
}
}
}
// We need to convert the results back to world space to be any use
// (Doesn't matter if we were contained since there will be no normal)
if (result.Body == this)
{
result.normal = record.BodyToWorldDirection(result.normal);
}
return(result.IsValid);
}
protected abstract bool ShapeCircleCast(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result);
public void PerformExplosion(
Vector2 origin,
float radius,
VoltExplosionCallback callback,
VoltBodyFilter targetFilter = null,
VoltBodyFilter occlusionFilter = null,
int ticksBehind = 0,
int rayCount = 32)
{
if (ticksBehind < 0)
throw new ArgumentOutOfRangeException("ticksBehind");
// Get all target bodies
this.PopulateFiltered(
origin,
radius,
targetFilter,
ticksBehind,
ref this.targetBodies);
// Get all occluding bodies
this.PopulateFiltered(
origin,
radius,
occlusionFilter,
ticksBehind,
ref this.occludingBodies);
VoltRayCast ray;
float rayWeight = 1.0f / rayCount;
float angleIncrement = (Mathf.PI * 2.0f) * rayWeight;
for (int i = 0; i < rayCount; i++)
{
Vector2 normal = VoltMath.Polar(angleIncrement * i);
ray = new VoltRayCast(origin, normal, radius);
float minDistance =
this.GetOccludingDistance(ray, ticksBehind);
minDistance += VoltWorld.EXPLOSION_OCCLUDER_SLOP;
this.TestTargets(ray, callback, ticksBehind, minDistance, rayWeight);
}
}
protected override bool ShapeCircleCast(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
bool checkVertices =
this.CircleCastVertices(
ref bodySpaceRay,
radius,
ref result);
bool checkEdges =
this.CircleCastEdges(
ref bodySpaceRay,
radius,
ref result);
// We need to check both to get the closest hit distance
return checkVertices || checkEdges;
}
protected abstract bool ShapeRayCast(
ref VoltRayCast bodySpaceRay,
ref VoltRayResult result);
private bool CircleCastEdges(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
int foundIndex = -1;
bool couldBeContained = true;
// Pre-compute and initialize values
float shortestDist = float.MaxValue;
Vector2 v3 = bodySpaceRay.direction.Left();
// Check the edges -- this will be different from the raycast because
// we care about staying within the ends of the edge line segment
for (int i = 0; i < this.countBody; i++)
{
Axis curAxis = this.bodyAxes[i];
// Push the edges out by the radius
Vector2 extension = curAxis.Normal * radius;
Vector2 a = this.bodyVertices[i] + extension;
Vector2 b = this.bodyVertices[(i + 1) % this.countBody] + extension;
// Update the check for containment
if (couldBeContained == true)
{
float proj =
Vector2.Dot(curAxis.Normal, bodySpaceRay.origin) - curAxis.Width;
// The point lies outside of the outer layer
if (proj > radius)
{
couldBeContained = false;
}
// The point lies between the outer and inner layer
else if (proj > 0.0f)
{
// See if the point is within the center Vornoi region of the edge
float d = VoltMath.Cross(curAxis.Normal, bodySpaceRay.origin);
if (d > VoltMath.Cross(curAxis.Normal, a))
{
couldBeContained = false;
}
if (d < VoltMath.Cross(curAxis.Normal, b))
{
couldBeContained = false;
}
}
}
// For the cast, only consider rays pointing towards the edge
if (Vector2.Dot(curAxis.Normal, bodySpaceRay.direction) >= 0.0f)
{
continue;
}
// See:
// https://rootllama.wordpress.com/2014/06/20/ray-line-segment-intersection-test-in-2d/
Vector2 v1 = bodySpaceRay.origin - a;
Vector2 v2 = b - a;
float denominator = Vector2.Dot(v2, v3);
float t1 = VoltMath.Cross(v2, v1) / denominator;
float t2 = Vector2.Dot(v1, v3) / denominator;
if ((t2 >= 0.0f) && (t2 <= 1.0f) && (t1 > 0.0f) && (t1 < shortestDist))
{
// See if the point is outside of any of the axes
shortestDist = t1;
foundIndex = i;
}
}
// Report results
if (couldBeContained == true)
{
result.SetContained(this);
return(true);
}
else if (foundIndex >= 0 && shortestDist <= bodySpaceRay.distance)
{
result.Set(
this,
shortestDist,
this.bodyAxes[foundIndex].Normal);
return(true);
}
return(false);
}
protected override bool ShapeRayCast(
ref VoltRayCast bodySpaceRay,
ref VoltRayResult result)
{
int foundIndex = -1;
float inner = float.MaxValue;
float outer = 0;
bool couldBeContained = true;
for (int i = 0; i < this.countBody; i++)
{
Axis curAxis = this.bodyAxes[i];
// Distance between the ray origin and the axis/edge along the
// normal (i.e., shortest distance between ray origin and the edge)
float proj =
Vector2.Dot(curAxis.Normal, bodySpaceRay.origin) - curAxis.Width;
// See if the point is outside of any of the axes
if (proj > 0.0f)
couldBeContained = false;
// Projection of the ray direction onto the axis normal (use
// negative normal because we want to get the penetration length)
float slope = Vector2.Dot(-curAxis.Normal, bodySpaceRay.direction);
if (slope == 0.0f)
continue;
float dist = proj / slope;
// The ray is pointing opposite the edge normal (towards the edge)
if (slope > 0.0f)
{
if (dist > inner)
{
return false;
}
if (dist > outer)
{
outer = dist;
foundIndex = i;
}
}
// The ray is pointing along the edge normal (away from the edge)
else
{
if (dist < outer)
{
return false;
}
if (dist < inner)
{
inner = dist;
}
}
}
if (couldBeContained == true)
{
result.SetContained(this);
return true;
}
else if (foundIndex >= 0 && outer <= bodySpaceRay.distance)
{
result.Set(
this,
outer,
this.bodyAxes[foundIndex].Normal);
return true;
}
return false;
}
public Vector2 ComputePoint(ref VoltRayCast cast)
{
return cast.origin + (cast.direction * this.distance);
}
protected override bool ShapeRayCast(
ref VoltRayCast bodySpaceRay,
ref VoltRayResult result)
{
int foundIndex = -1;
float inner = float.MaxValue;
float outer = 0;
bool couldBeContained = true;
for (int i = 0; i < this.countBody; i++)
{
Axis curAxis = this.bodyAxes[i];
// Distance between the ray origin and the axis/edge along the
// normal (i.e., shortest distance between ray origin and the edge)
float proj =
Vector2.Dot(curAxis.Normal, bodySpaceRay.origin) - curAxis.Width;
// See if the point is outside of any of the axes
if (proj > 0.0f)
{
couldBeContained = false;
}
// Projection of the ray direction onto the axis normal (use
// negative normal because we want to get the penetration length)
float slope = Vector2.Dot(-curAxis.Normal, bodySpaceRay.direction);
if (slope == 0.0f)
{
continue;
}
float dist = proj / slope;
// The ray is pointing opposite the edge normal (towards the edge)
if (slope > 0.0f)
{
if (dist > inner)
{
return(false);
}
if (dist > outer)
{
outer = dist;
foundIndex = i;
}
}
// The ray is pointing along the edge normal (away from the edge)
else
{
if (dist < outer)
{
return(false);
}
if (dist < inner)
{
inner = dist;
}
}
}
if (couldBeContained == true)
{
result.SetContained(this);
return(true);
}
else if (foundIndex >= 0 && outer <= bodySpaceRay.distance)
{
result.Set(
this,
outer,
this.bodyAxes[foundIndex].Normal);
return(true);
}
return(false);
}
/// <summary>
/// Note: This doesn't take rounded edges into account.
/// </summary>
public bool CircleCastApprox(ref VoltRayCast ray, float radius)
{
return VoltAABB.RayCast(
ref ray,
this.top + radius,
this.bottom - radius,
this.left - radius,
this.right + radius);
}
/// <summary>
/// Performs a raycast on all world bodies.
/// </summary>
public bool RayCast(
ref VoltRayCast ray,
ref VoltRayResult result,
VoltBodyFilter filter = null,
int ticksBehind = 0)
{
if (ticksBehind < 0)
throw new ArgumentOutOfRangeException("ticksBehind");
this.reusableBuffer.Clear();
this.staticBroadphase.RayCast(ref ray, this.reusableBuffer);
this.dynamicBroadphase.RayCast(ref ray, this.reusableBuffer);
for (int i = 0; i < this.reusableBuffer.Count; i++)
{
VoltBody body = this.reusableBuffer[i];
if (VoltBody.Filter(body, filter))
{
body.RayCast(ref ray, ref result, ticksBehind);
if (result.IsContained)
return true;
}
}
return result.IsValid;
}
public void RayCast(
ref VoltRayCast ray,
VoltBuffer <VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
public bool RayCast(ref VoltRayCast ray)
{
return VoltAABB.RayCast(
ref ray,
this.top,
this.bottom,
this.left,
this.right);
}
/// <summary>
/// A cheap ray test that requires some precomputed information.
/// Adapted from: http://www.cs.utah.edu/~awilliam/box/box.pdf
/// </summary>
private static bool RayCast(
ref VoltRayCast ray,
float top,
float bottom,
float left,
float right)
{
float txmin =
((ray.signX ? right : left) - ray.origin.x) *
ray.invDirection.x;
float txmax =
((ray.signX ? left : right) - ray.origin.x) *
ray.invDirection.x;
float tymin =
((ray.signY ? top : bottom) - ray.origin.y) *
ray.invDirection.y;
float tymax =
((ray.signY ? bottom : top) - ray.origin.y) *
ray.invDirection.y;
if ((txmin > tymax) || (tymin > txmax))
return false;
if (tymin > txmin)
txmin = tymin;
if (tymax < txmax)
txmax = tymax;
return (txmax > 0.0f) && (txmin < ray.distance);
}
public void RayCast(
ref VoltRayCast ray,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
private bool CircleCastVertices(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
float sqrRadius = radius * radius;
bool castHit = false;
for (int i = 0; i < this.countBody; i++)
{
castHit |=
Collision.CircleRayCast(
this,
this.bodyVertices[i],
sqrRadius,
ref bodySpaceRay,
ref result);
if (result.IsContained == true)
return true;
}
return castHit;
}
/// <summary>
/// Tests all valid explosion targets for a given ray.
/// </summary>
private void TestTargets(
VoltRayCast ray,
VoltExplosionCallback callback,
int ticksBehind,
float minOccluderDistance,
float rayWeight)
{
for (int i = 0; i < this.targetBodies.Count; i++)
{
VoltBody targetBody = this.targetBodies[i];
VoltRayResult result = default(VoltRayResult);
if (targetBody.RayCast(ref ray, ref result, ticksBehind))
if (result.Distance < minOccluderDistance)
callback.Invoke(ray, result, rayWeight);
}
}
private bool CircleCastEdges(
ref VoltRayCast bodySpaceRay,
float radius,
ref VoltRayResult result)
{
int foundIndex = -1;
bool couldBeContained = true;
// Pre-compute and initialize values
float shortestDist = float.MaxValue;
Vector2 v3 = bodySpaceRay.direction.Left();
// Check the edges -- this will be different from the raycast because
// we care about staying within the ends of the edge line segment
for (int i = 0; i < this.countBody; i++)
{
Axis curAxis = this.bodyAxes[i];
// Push the edges out by the radius
Vector2 extension = curAxis.Normal * radius;
Vector2 a = this.bodyVertices[i] + extension;
Vector2 b = this.bodyVertices[(i + 1) % this.countBody] + extension;
// Update the check for containment
if (couldBeContained == true)
{
float proj =
Vector2.Dot(curAxis.Normal, bodySpaceRay.origin) - curAxis.Width;
// The point lies outside of the outer layer
if (proj > radius)
{
couldBeContained = false;
}
// The point lies between the outer and inner layer
else if (proj > 0.0f)
{
// See if the point is within the center Vornoi region of the edge
float d = VoltMath.Cross(curAxis.Normal, bodySpaceRay.origin);
if (d > VoltMath.Cross(curAxis.Normal, a))
couldBeContained = false;
if (d < VoltMath.Cross(curAxis.Normal, b))
couldBeContained = false;
}
}
// For the cast, only consider rays pointing towards the edge
if (Vector2.Dot(curAxis.Normal, bodySpaceRay.direction) >= 0.0f)
continue;
// See:
// https://rootllama.wordpress.com/2014/06/20/ray-line-segment-intersection-test-in-2d/
Vector2 v1 = bodySpaceRay.origin - a;
Vector2 v2 = b - a;
float denominator = Vector2.Dot(v2, v3);
float t1 = VoltMath.Cross(v2, v1) / denominator;
float t2 = Vector2.Dot(v1, v3) / denominator;
if ((t2 >= 0.0f) && (t2 <= 1.0f) && (t1 > 0.0f) && (t1 < shortestDist))
{
// See if the point is outside of any of the axes
shortestDist = t1;
foundIndex = i;
}
}
// Report results
if (couldBeContained == true)
{
result.SetContained(this);
return true;
}
else if (foundIndex >= 0 && shortestDist <= bodySpaceRay.distance)
{
result.Set(
this,
shortestDist,
this.bodyAxes[foundIndex].Normal);
return true;
}
return false;
}
public void CircleCast(
ref VoltRayCast ray,
float radius,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.CircleCastApprox(ref ray, radius))
this.ExpandNode(node, outBuffer);
}
}
/// <summary>
/// Gets the distance to the closest occluder for the given ray.
/// </summary>
private float GetOccludingDistance(
VoltRayCast ray,
int ticksBehind)
{
float distance = float.MaxValue;
VoltRayResult result = default(VoltRayResult);
for (int i = 0; i < this.occludingBodies.Count; i++)
{
if (this.occludingBodies[i].RayCast(ref ray, ref result, ticksBehind))
distance = result.Distance;
if (result.IsContained)
break;
}
return distance;
}
public VoltVector2 ComputePoint(ref VoltRayCast cast)
{
return(cast.origin + (cast.direction * this.distance));
}
public void RayCast(
ref VoltRayCast ray,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.RayCast(ref ray))
this.ExpandNode(node, outBuffer);
}
}
