private void RayCast()
{
_rayActor = null;
RayCastInput input = _rayCastInput;
// Ray cast against the dynamic tree.
_tree.RayCast(RayCastCallback, ref input);
// Brute force ray cast.
Actor bruteActor = null;
RayCastOutput bruteOutput = new RayCastOutput();
for (int i = 0; i < ActorCount; ++i)
{
if (_actors[i].ProxyId == -1)
{
continue;
}
RayCastOutput output;
bool hit = _actors[i].AABB.RayCast(out output, ref input);
if (hit)
{
bruteActor = _actors[i];
bruteOutput = output;
input.MaxFraction = output.Fraction;
}
}
if (bruteActor != null)
{
Debug.Assert(bruteOutput.Fraction == _rayCastOutput.Fraction);
}
}
private void RayCast()
{
_rayActor = null;
RayCastInput input = _rayCastInput;
// Ray cast against the dynamic tree.
_tree.RayCast(RayCastCallback, ref input);
// Brute force ray cast.
Actor bruteActor = null;
RayCastOutput bruteOutput = default;
for (int i = 0; i < _actorCount; ++i)
{
if (_actors[i].proxyId == DynamicTree <Actor> .NullNode)
{
continue;
}
RayCastOutput output;
bool hit = _actors[i].aabb.RayCast(ref input, out output);
if (hit)
{
bruteActor = _actors[i];
bruteOutput = output;
input.MaxFraction = output.Fraction;
}
}
if (bruteActor != null)
{
Debug.Assert(bruteOutput.Fraction == _rayCastOutput.Fraction);
}
}
void RayCast()
{
_rayActor = null;
RayCastInput input = _rayCastInput;
// Ray cast against the dynamic tree.
_tree.RayCast(RayCastCallback, ref input);
// Brute force ray cast.
//Actor bruteActor = null;
//RayCastOutput bruteOutput;
for (int i = 0; i < e_actorCount; ++i)
{
if (_actors[i].proxyId == -1)
{
continue;
}
RayCastOutput output;
bool hit = _actors[i].aabb.RayCast(out output, ref input);
if (hit)
{
//bruteActor = _actors[i];
//bruteOutput = output;
input.maxFraction = output.fraction;
}
}
}
private void RayCast()
{
_rayActor = null;
RayCastInput input = _rayCastInput;
// Ray cast against the dynamic tree.
_tree.RayCast(RayCastCallback, ref input);
// Brute force ray cast.
Actor bruteActor = null;
RayCastOutput bruteOutput = new RayCastOutput();
for (int i = 0; i < ActorCount; ++i)
{
if (_actors[i].ProxyId == -1)
{
continue;
}
bool hit = _actors[i].AABB.RayCast(ref input, out RayCastOutput output);
// Use this for initialization
void Start()
{
return;
func = callBack;
//int count = 0;
//for (int i = 0; i < 100; i++)
//{
// var g = GameObject.CreatePrimitive(PrimitiveType.Cube);
// g.transform.position = new Vector3(Random.Range(0, 100), 0, Random.Range(0, 100));
//}
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
//sw.Start();
//for (int i = 0; i < 100; i++)
//{
// Ray r = new Ray();
// r.origin = new Vector3(Random.Range(0, 50),0, Random.Range(0, 50));
// r.direction = new Vector3(Random.Range(0, 1f), 0, Random.Range(0, 1f));
// r.direction = r.direction.normalized;
// var hit = Physics.Raycast(r, 100, -1);
// // Debug.DrawLine(r.origin, r.direction*100+r.origin, Color.red, 10);
// if (hit) count++;
//}
// Debug.Log(sw.ElapsedMilliseconds);
//return;
Vector2d[] vs = new Vector2d[4];
for (int i = 0; i < 100; i++)
{
var center = new Vector2d(Random.Range(0, 100), Random.Range(0, 100));
var aabb = new AABB(center, FixedMath.One * 2, FixedMath.One * 2);
FixtureProxy fp = new FixtureProxy();
long angle = FixedMath.One * (int)(Random.Range(0, 359));
Vector2d a = -aabb.Extents;
Vector2d b = a + new Vector2d(0, aabb.Height);
Vector2d c = aabb.Extents;
Vector2d d = a + new Vector2d(aabb.Width, 0);
var halfw = aabb.Width / 2;
var halfh = aabb.Height / 2;
var radius = FixedMath.Sqrt((halfw).Mul(halfw) + halfh.Mul(halfh));
a = RotatePosi(a, angle);
b = RotatePosi(b, angle);
c = RotatePosi(c, angle);
d = RotatePosi(d, angle);
vs[0] = a;
vs[1] = b;
vs[2] = c;
vs[3] = d;
Vector2d min = Vector2d.Min(vs) + center;
Vector2d max = Vector2d.Max(vs) + center;
DLog.Log(radius.ToFloat().ToString());
var outteraabb = new AABB(center, radius * 2, radius * 2);
fp.AABB = aabb;
fp.Fixture = new Transform2d(ref center, ref angle);
int id = tree.AddProxy(ref outteraabb, fp);
tree.MoveProxy(id, ref outteraabb, Vector2d.zero);
DrawFixtureProxy(fp);
DrawAABB(outteraabb);
}
//var bcs = GameObject.FindObjectsOfType<BoxCollider>();
//for (int i = 0; i < bcs.Length; i++)
//{
// var bc = bcs[i];
// var aabb = new AABB(new Vector2d(bc.transform.position), FixedMath.One, FixedMath.One);
// FixtureProxy fp = new FixtureProxy();
// fp.AABB = aabb;
// long angle = FixedMath.One * (int)(bc.transform.eulerAngles.y);
// Vector2d p = new Vector2d(bc.transform.position);
// fp.Fixture = new Transform2d(ref p, ref angle);
// tree.AddProxy(ref aabb, fp);
// DrawFixtureProxy(fp);
//}
// sw.Reset();
sw.Start();
for (int i = 0; i < 1; i++)
{
RayCastInput input = new RayCastInput();
input.Point1 = new Vector2d(Random.Range(0, 50) * FixedMath.One, Random.Range(0, 50) * FixedMath.One);
input.Point2 = new Vector2d(Random.Range(50, 100) * FixedMath.One, Random.Range(50, 100) * FixedMath.One);
NewSphere(input.Point1.ToVector3(), "start");
NewSphere(input.Point2.ToVector3(), "end");
input.MaxFraction = FixedMath.One;
DrawLine(input);
tree.RayCast(callBack, ref input);
}
Debug.Log(sw.ElapsedMilliseconds);
}
public PhysicsOutput RayCast(RayCastInput input)
{
output.EndIndex = 0;
PhysicsTree.RayCast(RayCastCallback, ref input);
return(output);
}
