public static bool FindClosestRayIntersection(ISampledCurve3d c, double segRadius, Ray3d ray, out double rayT)
{
rayT = double.MaxValue;
int nNearSegment = -1;
//double fNearSegT = 0.0;
int N = c.VertexCount;
int iStop = (c.Closed) ? N : N - 1;
for (int i = 0; i < iStop; ++i)
{
DistRay3Segment3 dist = new DistRay3Segment3(ray,
new Segment3d(c.GetVertex(i), c.GetVertex((i + 1) % N)));
// raycast to line bounding-sphere first (is this going ot be faster??)
double fSphereHitT;
bool bHitBoundSphere = RayIntersection.SphereSigned(ray.Origin, ray.Direction,
dist.Segment.Center, dist.Segment.Extent + segRadius, out fSphereHitT);
if (bHitBoundSphere == false)
{
continue;
}
// find ray/seg min-distance and use ray T
double dSqr = dist.GetSquared();
if (dSqr < segRadius * segRadius)
{
if (dist.RayParameter < rayT)
{
rayT = dist.RayParameter;
//fNearSegT = dist.SegmentParameter;
nNearSegment = i;
}
}
}
return(nNearSegment >= 0);
}