public override bool RayCast(Ray ray, out RayCastHit hit)
{
ray.direction.Normalize();
hit = null;
float t0, t1; // solutions for t if the ray intersects
// geometric solution
Vector3 L = object3D.transform.Location - ray.origin;
float tca = Vector3.Dot(L, ray.direction);
if (tca < 0)
{
return(false);
}
float d2 = Vector3.Dot(L, L) - tca * tca;
if (d2 > radius)
{
return(false);
}
float thc = (float)Math.Sqrt(radius - d2);
t0 = tca - thc;
t1 = tca + thc;
if (t0 > t1)
{
float temp = t1;
t1 = t0;
t0 = temp;
}
if (t0 < 0)
{
t0 = t1; // if t0 is negative, let's use t1 instead
if (t0 < 0)
{
return(false); // both t0 and t1 are negative
}
}
hit = new RayCastHit
{
collider = this,
distance = t0,
hit = ray.origin + t0 * ray.direction,
normal = ray.origin + t0 * ray.direction - object3D.transform.Location,
};
return(true);
}
public virtual bool RayCast(Ray ray, out RayCastHit hit)
{
Triangle3 hitTriangle = new Triangle3();
Vector3 barycentricCoords;
Vector3 pt;
ray.direction.Normalize();
for (int face = 0; face < mesh.faces.GetLength(0); face++)
{
//Ignore faces where ray hits from behind
float rayNormalDot = Vector3.Dot(mesh.faceNormals[face], ray.direction);
if (rayNormalDot >= 0)
{
continue;
}
float planeConst = Vector3.Dot(mesh.faceNormals[face], mesh.vertices[mesh.faces[face, 0]] + object3D.transform.Location);
float t = -(Vector3.Dot(mesh.faceNormals[face], ray.origin) + planeConst) / Vector3.Dot(mesh.faceNormals[face], ray.direction);
//Triangle is behind ray origin
if (t < 0)
{
continue;
}
pt = ray.origin + (t * ray.direction);
hitTriangle.v0 = mesh.vertices[mesh.faces[face, 0]] + object3D.transform.Location;
hitTriangle.v1 = mesh.vertices[mesh.faces[face, 1]] + object3D.transform.Location;
hitTriangle.v2 = mesh.vertices[mesh.faces[face, 2]] + object3D.transform.Location;
hitTriangle.vn0 = mesh.vertexNormalCoords[mesh.vertexNormals[face, 0]];
hitTriangle.vn1 = mesh.vertexNormalCoords[mesh.vertexNormals[face, 1]];
hitTriangle.vn2 = mesh.vertexNormalCoords[mesh.vertexNormals[face, 2]];
hitTriangle.uv0 = mesh.uvcoords[mesh.uvs[face, 0]];
hitTriangle.uv1 = mesh.uvcoords[mesh.uvs[face, 1]];
hitTriangle.uv2 = mesh.uvcoords[mesh.uvs[face, 2]];
hitTriangle.normal = mesh.faceNormals[face];
barycentricCoords = hitTriangle.GetBarycentricCoordinates(pt, out bool inTri);
if (inTri)
{
hit = new RayCastHit {
hit = pt, barycentricCoordinates = barycentricCoords, collider = this, distance = t, normal = (smoothMesh ? hitTriangle.NormalAt(pt) : hitTriangle.normal), triangle = hitTriangle
};
return(true);
}
}
hit = null;
return(false);
}
public static bool RayCast(Ray ray, out RayCastHit hit)
{
if (RayCastAll(ray, out RayCastHit[] hits))