private xna.Vector3 SingleRaycast(xna.Vector3 from, xna.Vector3 to)
{
var rayResult = PhysicsEngine.Raycast2D(
RaycastProperties.FromSingleRay(
TypeConversion.FromXNA(from),
TypeConversion.FromXNA(to)
)
);
RaycastResult result = null;
//
// !Warning! this code is relying on the Raycast operation being
// fundementally synchronous, wrapped in an async API.
//
if (rayResult.Test(out result))
{
if (result.ImpactPoints.Count == 1)
{
var impact = result.ImpactPoints[0].Position;
return(new xna.Vector3(
impact.X,
impact.Y,
impact.Z
));
}
}
return(to);
}
void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_entity = (SonarEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// CreateDefaultState();
RaycastProperties raycastProperties = new RaycastProperties();
raycastProperties.StartAngle = (float)-_state.AngularRange / 2.0f;
raycastProperties.EndAngle = (float)_state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
// raycastProperties.Range = LASER_RANGE;
raycastProperties.Range = SONAR_RANGE;
// Raul - This should be the pose of the sonar transducer.
// Raul - I consider 8 Sonar transducers rays in the P3DX frontal ring
// Raul - coming from a common central point.
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
_entity.Register(_raycastResults);
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
private void SingleRaycastAsync(xna.Vector3 from, xna.Vector3 to, int index, Port <OcclusionRay> resultPort)
{
var rayResult = PhysicsEngine.Raycast2D(
RaycastProperties.FromSingleRay(
TypeConversion.FromXNA(from),
TypeConversion.FromXNA(to)
)
);
Activate(
Arbiter.Receive(false, rayResult,
delegate(RaycastResult result)
{
xna.Vector3 hitPoint;
if (result.ImpactPoints.Count == 1)
{
var impact = result.ImpactPoints[0].Position;
hitPoint = new xna.Vector3(
impact.X,
impact.Y,
impact.Z
);
}
else
{
hitPoint = to;
}
float distance = (hitPoint - to).Length();
resultPort.Post(
new OcclusionRay
{
Index = index,
Point = from,
Impact = hitPoint,
Distance = distance,
Occluded = distance > OcclusionThreshold,
Run = 0
}
);
}
)
);
}
void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_entity = (SonarEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// CreateDefaultState();
RaycastProperties raycastProperties = new RaycastProperties();
raycastProperties.StartAngle = (float) -_state.AngularRange / 2.0f;
raycastProperties.EndAngle = (float) _state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
// raycastProperties.Range = LASER_RANGE;
raycastProperties.Range = SONAR_RANGE;
// Raul - This should be the pose of the sonar transducer.
// Raul - I consider 8 Sonar transducers rays in the P3DX frontal ring
// Raul - coming from a common central point.
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
_entity.Register(_raycastResults);
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
