public override bool ConvexCast(ConvexShape castShape, ref MathExtensions.RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
return MPRToolbox.Sweep(castShape, Shape, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref worldTransform, out hit);
}
public override bool ConvexCast(ConvexShape castShape, ref MathExtensions.RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
hit = new RayHit();
BoundingBox boundingBox;
Toolbox.GetExpandedBoundingBox(ref castShape, ref startingTransform, ref sweep, out boundingBox);
var tri = Resources.GetTriangle();
var hitElements = Resources.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);
Vector3 center;
Vector3.Add(ref tri.vA, ref tri.vB, out center);
Vector3.Add(ref center, ref tri.vC, out center);
Vector3.Multiply(ref center, 1f / 3f, out center);
Vector3.Subtract(ref tri.vA, ref center, out tri.vA);
Vector3.Subtract(ref tri.vB, ref center, out tri.vB);
Vector3.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;
Resources.GiveBack(tri);
Resources.GiveBack(hitElements);
return hit.T != float.MaxValue;
}
Resources.GiveBack(tri);
Resources.GiveBack(hitElements);
return false;
}
