private bool InternalSegmentTest(Vec3 start, Vec3 end, ref Vec3 result, int num_dim)
{
Vec3 ray_dir = end - start;
float length = num_dim > 2 ? ray_dir.Normalize() : ray_dir.Normalize2D();
float length_2 = length * length;
if (InternalRayTest(start, ray_dir, ref result, num_dim))
{
if ((num_dim > 2 ? result.DistanceSqr(start) : result.Distance2DSqr(start)) <= length_2)
{
return(true);
}
result = end;
return(false);
}
return(false);
}
// Aquires DataLock (read); returns true when there is no obstacle
private bool RayCast(Vec3 from, Cell from_cell, Vec3 to, MovementFlag flags, ref Vec3 intersection, bool test_2d, bool ignore_movement_cost, ref HashSet <Cell> ignored_cells)
{
using (new ReadLock(DataLock))
{
if (to.IsEmpty)
{
intersection = new Vec3(from);
return(false);
}
if (from_cell == null && !GetCellContaining(from, out from_cell, flags, false, false, -1, test_2d, 2, ignored_cells))
{
intersection = new Vec3(from);
return(false);
}
if (test_2d ? from_cell.Contains2D(to) : from_cell.Contains(to, 2))
{
intersection = new Vec3(to);
return(true);
}
ignored_cells.Add(from_cell);
Vec3 ray_dir = to - from;
if (test_2d)
{
ray_dir.Normalize2D();
}
else
{
ray_dir.Normalize();
}
Vec3 ray_origin = new Vec3(from);
// check if intersection in
foreach (Cell.Neighbour neighbour in from_cell.Neighbours)
{
if (neighbour.cell.Disabled || (neighbour.connection_flags & flags) != flags || (!ignore_movement_cost && neighbour.cell.MovementCostMult > from_cell.MovementCostMult))
{
continue;
}
Cell neighbour_cell = neighbour.cell;
if (ignored_cells.Contains(neighbour_cell))
{
continue;
}
bool ray_test_result = test_2d ? neighbour_cell.AABB.RayTest2D(ray_origin, ray_dir, ref intersection) :
neighbour_cell.AABB.RayTest(ray_origin, ray_dir, ref intersection);
if (ray_test_result)
{
AABB shared_aabb = test_2d ? from_cell.AABB.Intersect2D(neighbour_cell.AABB, true) :
from_cell.AABB.Intersect(neighbour_cell.AABB, true);
// ray intersects on connection plane
if (shared_aabb != null)
{
bool accepted = test_2d ? shared_aabb.Contains2D(intersection) :
shared_aabb.Contains(intersection);
if (accepted && RayCast(intersection, neighbour_cell, to, flags, ref intersection, test_2d, ignore_movement_cost, ref ignored_cells))
{
return(true);
}
}
}
}
return(false);
}
}
