public override bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3f sweep, out RayHit hit)
{
hit = new RayHit();
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
var tri = PhysicsThreadResources.GetTriangle();
var hitElements = CommonResources.GetIntList();
if (triangleMesh.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
triangleMesh.Data.GetTriangle(hitElements[i], out tri.vA, out tri.vB, out tri.vC);
Vector3f center;
Vector3f.Add(ref tri.vA, ref tri.vB, out center);
Vector3f.Add(ref center, ref tri.vC, out center);
Vector3f.Multiply(ref center, 1f / 3f, out center);
Vector3f.Subtract(ref tri.vA, ref center, out tri.vA);
Vector3f.Subtract(ref tri.vB, ref center, out tri.vB);
Vector3f.Subtract(ref tri.vC, ref center, out tri.vC);
tri.MaximumRadius = tri.vA.LengthSquared;
float radius = tri.vB.LengthSquared;
if (tri.MaximumRadius < radius)
{
tri.MaximumRadius = radius;
}
radius = tri.vC.LengthSquared;
if (tri.MaximumRadius < radius)
{
tri.MaximumRadius = radius;
}
tri.MaximumRadius = (float)Math.Sqrt(tri.MaximumRadius);
tri.collisionMargin = 0;
var triangleTransform = new RigidTransform {
Orientation = Quaternion.Identity, Position = center
};
RayHit tempHit;
if (MPRToolbox.Sweep(castShape, tri, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref triangleTransform, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
}
}
tri.MaximumRadius = 0;
PhysicsThreadResources.GiveBack(tri);
CommonResources.GiveBack(hitElements);
return(hit.T != float.MaxValue);
}
PhysicsThreadResources.GiveBack(tri);
CommonResources.GiveBack(hitElements);
return(false);
}
/// <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 Vector3 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);
}
