public void Cast(CollisionWorld cw)
{
var cb = new ClosestConvexResultCallback(Vector3.Zero, Vector3.Zero);
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
cb.ClosestHitFraction = 1.0f;
cb.ConvexFromWorld = source[i];
cb.ConvexToWorld = dest[i];
Quaternion qFrom = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.0f);
Quaternion qTo = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.7f);
Matrix from = Matrix.RotationQuaternion(qFrom) * Matrix.Translation(source[i]);
Matrix to = Matrix.RotationQuaternion(qTo) * Matrix.Translation(dest[i]);
cw.ConvexSweepTest(boxShape, from, to, cb);
if (cb.HasHit)
{
hit_surface[i] = cb.HitPointWorld;
hit_com[i] = Vector3.Lerp(source[i], dest[i], cb.ClosestHitFraction);
hit_fraction[i] = cb.ClosestHitFraction;
normal[i] = cb.HitNormalWorld;
normal[i].Normalize();
}
else
{
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
float mean_ms = (float)sum_ms / (float)sum_ms_samples;
Console.WriteLine("{0} rays in {1} ms {2} {3} {4}", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
}
