///<summary>
/// Casts a fat (sphere expanded) ray against the shape. If the raycast appears to be stuck in the shape, the cast will be attempted
/// with a smaller ray (scaled by the MotionSettings.CoreShapeScaling each time).
///</summary>
///<param name="ray">Ray to test against the shape.</param>
///<param name="radius">Radius of the ray.</param>
///<param name="target">Shape to test against.</param>
///<param name="shapeTransform">Transform to apply to the shape for the test.</param>
///<param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
///<param name="hit">Hit data of the sphere cast, if any.</param>
///<returns>Whether or not the sphere cast hit the shape.</returns>
public static bool CCDSphereCast(Ray ray, float radius, ConvexShape target, ref RigidTransform shapeTransform, float maximumLength,
out RayHit hit)
{
int iterations = 0;
while (true)
{
if (GJKToolbox.SphereCast(ray, radius, target, ref shapeTransform, maximumLength, out hit) &&
hit.T > 0)
{
//The ray cast isn't embedded in the shape, and it's less than maximum length away!
return(true);
}
if (hit.T > maximumLength || hit.T < 0)
{
return(false); //Failure showed it was too far, or behind.
}
radius *= MotionSettings.CoreShapeScaling;
iterations++;
if (iterations > 3) //Limit could be configurable.
{
//It's iterated too much, let's just do a last ditch attempt using a raycast and hope that can help.
return(GJKToolbox.RayCast(ray, target, ref shapeTransform, maximumLength, out hit) && hit.T > 0);
}
}
}
