/**
* @deprecated please use {@link #raycast(RayCastOutput, RayCastInput, IWorldPool)} for better
* performance
* @param output
* @param input
* @return
*/
public bool raycast(RayCastOutput output, RayCastInput input)
{
return(raycast(output, input, new DefaultWorldPool(4, 4)));
}
/**
* From Real-time Collision Detection, p179.
*
* @param output
* @param input
*/
public bool raycast(RayCastOutput output, RayCastInput input,
IWorldPool argPool)
{
double tmin = -double.MaxValue;
double tmax = double.MaxValue;
Vec2 p = argPool.popVec2();
Vec2 d = argPool.popVec2();
Vec2 absD = argPool.popVec2();
Vec2 normal = argPool.popVec2();
p.set(input.p1);
d.set(input.p2).subLocal(input.p1);
Vec2.absToOut(d, absD);
// x then y
if (absD.x < Settings.EPSILON)
{
// Parallel.
if (p.x < lowerBound.x || upperBound.x < p.x)
{
argPool.pushVec2(4);
return(false);
}
}
else
{
double inv_d = 1.0d / d.x;
double t1 = (lowerBound.x - p.x) * inv_d;
double t2 = (upperBound.x - p.x) * inv_d;
// Sign of the normal vector.
double s = -1.0d;
if (t1 > t2)
{
double temp = t1;
t1 = t2;
t2 = temp;
s = 1.0d;
}
// Push the min up
if (t1 > tmin)
{
normal.setZero();
normal.x = s;
tmin = t1;
}
// Pull the max down
tmax = MathUtils.min(tmax, t2);
if (tmin > tmax)
{
argPool.pushVec2(4);
return(false);
}
}
if (absD.y < Settings.EPSILON)
{
// Parallel.
if (p.y < lowerBound.y || upperBound.y < p.y)
{
argPool.pushVec2(4);
return(false);
}
}
else
{
double inv_d = 1.0d / d.y;
double t1 = (lowerBound.y - p.y) * inv_d;
double t2 = (upperBound.y - p.y) * inv_d;
// Sign of the normal vector.
double s = -1.0d;
if (t1 > t2)
{
double temp = t1;
t1 = t2;
t2 = temp;
s = 1.0d;
}
// Push the min up
if (t1 > tmin)
{
normal.setZero();
normal.y = s;
tmin = t1;
}
// Pull the max down
tmax = MathUtils.min(tmax, t2);
if (tmin > tmax)
{
argPool.pushVec2(4);
return(false);
}
}
// Does the ray start inside the box?
// Does the ray intersect beyond the max fraction?
if (tmin < 0.0d || input.maxFraction < tmin)
{
argPool.pushVec2(4);
return(false);
}
// Intersection.
output.fraction = tmin;
output.normal.x = normal.x;
output.normal.y = normal.y;
argPool.pushVec2(4);
return(true);
}
public void set(RayCastOutput rco)
{
normal.set(rco.normal);
fraction = rco.fraction;
}