/// <summary>
/// Rejection test for intersection with the profiled grid.
/// </summary>
/// <param name="grid">Grid whose cells will be rejected and compared to the profiled grid's rejections.</param>
/// <returns>True iff there is a collision</returns>
public bool rejectionIntersects(IMyCubeGrid grid, IMyCubeBlock ignore, out MyEntity entity, out Vector3?pointOfObstruction)
{
m_logger.debugLog("m_grid == null", Logger.severity.FATAL, condition: m_grid == null);
//m_logger.debugLog("testing grid: " + grid.getBestName(), "rejectionIntersects()");
GridCellCache gridCache = GridCellCache.GetCellCache(grid);
MatrixD toLocal = m_grid.WorldMatrixNormalizedInv;
Line pathLine = Path.get_Line();
float minDist = m_grid.GridSize + grid.GridSize;
//if (!m_landing)
// minDist += NotLandingBuffer;
float pathRadius = Path.Radius + minDist;
float minDistSquared = minDist * minDist;
MyEntity entity_in = null;
Vector3? pointOfObstruction_in = null;
using (m_lock_rejcectionCells.AcquireSharedUsing())
gridCache.ForEach(cell => {
Vector3 world = grid.GridIntegerToWorld(cell);
//m_logger.debugLog("checking position: " + world, "rejectionIntersects()");
if (pathLine.PointInCylinder(pathRadius, world))
{
//m_logger.debugLog("point in cylinder: " + world, "rejectionIntersects()");
Vector3 local = Vector3.Transform(world, toLocal);
if (rejectionIntersects(local, minDistSquared))
{
entity_in = grid.GetCubeBlock(cell).FatBlock as MyEntity ?? grid as MyEntity;
if (ignore != null && entity_in == ignore)
{
return(false);
}
pointOfObstruction_in = pathLine.ClosestPoint(world);
return(true);
}
}
return(false);
});
if (pointOfObstruction_in.HasValue)
{
entity = entity_in;
pointOfObstruction = pointOfObstruction_in;
return(true);
}
entity = null;
pointOfObstruction = null;
return(false);
}
/// <summary>
/// Perform a vector rejection of every occupied cell from DirectionNorm and store the results in rejectionCells.
/// </summary>
private void rejectAll()
{
using (m_lock_rejcectionCells.AcquireExclusiveUsing())
{
m_rejectionCells.Clear();
m_centreRejection = RejectMetres(Centre);
m_cellCache.ForEach(cell => {
Vector3 rejection = RejectMetres(cell * m_grid.GridSize);
m_rejectionCells.Add(rejection);
});
}
}
