/// <summary>
/// Finds closest edge to ray, including principal axes of the target object.
/// </summary>
/// <param name="ray">The ray.</param>
/// <param name="triangleEdge">Triangle edge from raycast result.</param>
/// <param name="principalEdgeExtension">Extension of principal axes relative to bounding box or object faces.</param>
/// <returns>Edge (principal or triangle) closest to the given ray.</returns>
private AGXUnity.Edge FindClosestEdgeIncludingTargetPrincipalAxes(Ray ray, AGXUnity.Edge triangleEdge, float principalEdgeExtension = 10.0f)
{
if (m_collectedData.Target == null)
{
return(new AGXUnity.Edge());
}
var edges = new AGXUnity.Edge[4];
var shape = m_collectedData.Target.GetComponent <Shape>();
var shapeUtils = shape?.GetUtils();
if (shapeUtils != null)
{
Array.Copy(shapeUtils.GetPrincipalEdgesWorld(principalEdgeExtension), edges, 3);
}
else
{
var mesh = shape is AGXUnity.Collide.Mesh ?
(shape as AGXUnity.Collide.Mesh).SourceObjects.FirstOrDefault() :
m_collectedData.Target.GetComponent <MeshFilter>()?.sharedMesh;
var halfExtents = 0.5f * Vector3.zero;
if (mesh != null)
{
halfExtents = mesh.bounds.extents;
}
Array.Copy(ShapeUtils.ExtendAndTransformEdgesToWorld(m_collectedData.Target.transform,
new AGXUnity.Edge[]
{
new AGXUnity.Edge()
{
Start = BoxShapeUtils.GetLocalFace(halfExtents, ShapeUtils.Direction.Negative_X),
End = BoxShapeUtils.GetLocalFace(halfExtents, ShapeUtils.Direction.Positive_X),
Normal = ShapeUtils.GetLocalFaceDirection(ShapeUtils.Direction.Positive_Y),
Type = AGXUnity.Edge.EdgeType.Principal
},
new AGXUnity.Edge()
{
Start = BoxShapeUtils.GetLocalFace(halfExtents, ShapeUtils.Direction.Negative_Y),
End = BoxShapeUtils.GetLocalFace(halfExtents, ShapeUtils.Direction.Positive_Y),
Normal = ShapeUtils.GetLocalFaceDirection(ShapeUtils.Direction.Positive_Z),
Type = AGXUnity.Edge.EdgeType.Principal
},
new AGXUnity.Edge()
{
Start = BoxShapeUtils.GetLocalFace(halfExtents, ShapeUtils.Direction.Negative_Z),
End = BoxShapeUtils.GetLocalFace(halfExtents, ShapeUtils.Direction.Positive_Z),
Normal = ShapeUtils.GetLocalFaceDirection(ShapeUtils.Direction.Positive_X),
Type = AGXUnity.Edge.EdgeType.Principal
}
},
principalEdgeExtension), edges, 3);
}
edges[3] = triangleEdge;
return(ShapeUtils.FindClosestEdgeToSegment(ray.origin, ray.GetPoint(5000.0f), edges).Edge);
}
