/// <summary>
/// Tests a ray against the collidable.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length, in units of the ray's direction's length, to test.</param>
/// <param name="rayHit">Hit data, if any.</param>
/// <param name="hitChild">Child collidable hit by the ray, if any.</param>
/// <returns>Whether or not the ray hit the entry.</returns>
public bool RayCast(Ray ray, float maximumLength, out RayHit rayHit, out CompoundChild hitChild)
{
rayHit = new RayHit();
hitChild = null;
var hitElements = PhysicsResources.GetCompoundChildList();
if (hierarchy.Tree.GetOverlaps(ray, maximumLength, hitElements))
{
rayHit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
EntityCollidable candidate = hitElements.Elements[i].CollisionInformation;
RayHit tempHit;
if (candidate.RayCast(ray, maximumLength, out tempHit) && tempHit.T < rayHit.T)
{
rayHit = tempHit;
hitChild = hitElements.Elements[i];
}
}
PhysicsResources.GiveBack(hitElements);
return(rayHit.T != float.MaxValue);
}
PhysicsResources.GiveBack(hitElements);
return(false);
}
///<summary>
/// Constructs a new CompoundCollidable.
///</summary>
///<param name="compoundShape">Compound shape to use for the collidable.</param>
public CompoundCollidable(CompoundShape compoundShape)
: base(compoundShape)
{
Events = new CompoundEventManager();
for (int i = 0; i < compoundShape.shapes.Count; i++)
{
CompoundChild child = GetChild(compoundShape.shapes.Elements[i], i);
this.children.Add(child);
}
hierarchy = new CompoundHierarchy(this);
}
///<summary>
/// Constructs a new compound hierarchy.
///</summary>
///<param name="owner">Owner of the hierarchy.</param>
public CompoundHierarchy(CompoundCollidable owner)
{
this.owner = owner;
var children = new CompoundChild[owner.children.Count];
Array.Copy(owner.children.Elements, children, owner.children.Count);
//In order to initialize a good tree, the local space bounding boxes should first be computed.
//Otherwise, the tree would try to create a hierarchy based on a bunch of zeroed out bounding boxes!
for (int i = 0; i < children.Length; i++)
{
children[i].CollisionInformation.worldTransform = owner.Shape.shapes.Elements[i].LocalTransform;
children[i].CollisionInformation.UpdateBoundingBoxInternal(0);
}
tree = new BoundingBoxTree <CompoundChild>(children);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="hit">Hit data, if any.</param>
/// <param name="hitChild">Child hit by the cast.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3f sweep, Func <BroadPhaseEntry, bool> filter, out RayHit hit, out CompoundChild hitChild)
{
hit = new RayHit();
hitChild = null;
if (!filter(this))
{
return(false);
}
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
var hitElements = PhysicsResources.GetCompoundChildList();
if (hierarchy.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
var candidate = hitElements.Elements[i].CollisionInformation;
RayHit tempHit;
if (candidate.ConvexCast(castShape, ref startingTransform, ref sweep, filter, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
hitChild = hitElements.Elements[i];
}
}
PhysicsResources.GiveBack(hitElements);
return(hit.T != float.MaxValue);
}
PhysicsResources.GiveBack(hitElements);
return(false);
}
/// <summary>
/// Tests a ray against the collidable.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length, in units of the ray's direction's length, to test.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="rayHit">Hit location of the ray on the collidable, if any.</param>
/// <param name="hitChild">Child hit by the ray.</param>
/// <returns>Whether or not the ray hit the collidable.</returns>
public bool RayCast(Ray ray, float maximumLength, Func <BroadPhaseEntry, bool> filter, out RayHit rayHit, out CompoundChild hitChild)
{
rayHit = new RayHit();
hitChild = null;
if (filter(this))
{
var hitElements = PhysicsResources.GetCompoundChildList();
if (hierarchy.Tree.GetOverlaps(ray, maximumLength, hitElements))
{
rayHit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
RayHit tempHit;
if (hitElements.Elements[i].CollisionInformation.RayCast(ray, maximumLength, filter, out tempHit) && tempHit.T < rayHit.T)
{
rayHit = tempHit;
hitChild = hitElements.Elements[i];
}
}
PhysicsResources.GiveBack(hitElements);
return(rayHit.T != float.MaxValue);
}
PhysicsResources.GiveBack(hitElements);
}
return(false);
}
