/**
* Cast a ray against this shape.
*
* @param output the ray-cast results.
* @param input the ray-cast input parameters.
* @param output
* @param input
*/
public bool raycast(RayCastOutput output, RayCastInput input, int childIndex)
{
return m_shape.raycast(output, input, m_body.m_xf, childIndex);
}
/**
* From Real-time Collision Detection, p179.
*
* @param output
* @param input
*/
public bool raycast(RayCastOutput output, RayCastInput input,
IWorldPool argPool)
{
float tmin = float.MinValue;
float tmax = float.MaxValue;
Vec2 p = argPool.popVec2();
Vec2 d = argPool.popVec2();
Vec2 absD = argPool.popVec2();
Vec2 normal = argPool.popVec2();
p.set(input.p1);
d.set(input.p2);
d.subLocal(input.p1);
Vec2.absToOut(d, ref absD);
// x then y
if (absD.x < Settings.EPSILON)
{
// Parallel.
if (p.x < lowerBound.x || upperBound.x < p.x)
{
argPool.pushVec2(4);
return false;
}
}
else
{
float inv_d = 1.0f/d.x;
float t1 = (lowerBound.x - p.x)*inv_d;
float t2 = (upperBound.x - p.x)*inv_d;
// Sign of the normal vector.
float s = -1.0f;
if (t1 > t2)
{
float temp = t1;
t1 = t2;
t2 = temp;
s = 1.0f;
}
// Push the min up
if (t1 > tmin)
{
normal.setZero();
normal.x = s;
tmin = t1;
}
// Pull the max down
tmax = MathUtils.min(tmax, t2);
if (tmin > tmax)
{
argPool.pushVec2(4);
return false;
}
}
if (absD.y < Settings.EPSILON)
{
// Parallel.
if (p.y < lowerBound.y || upperBound.y < p.y)
{
argPool.pushVec2(4);
return false;
}
}
else
{
float inv_d = 1.0f/d.y;
float t1 = (lowerBound.y - p.y)*inv_d;
float t2 = (upperBound.y - p.y)*inv_d;
// Sign of the normal vector.
float s = -1.0f;
if (t1 > t2)
{
float temp = t1;
t1 = t2;
t2 = temp;
s = 1.0f;
}
// Push the min up
if (t1 > tmin)
{
normal.setZero();
normal.y = s;
tmin = t1;
}
// Pull the max down
tmax = MathUtils.min(tmax, t2);
if (tmin > tmax)
{
argPool.pushVec2(4);
return false;
}
}
// Does the ray start inside the box?
// Does the ray intersect beyond the max fraction?
if (tmin < 0.0f || input.maxFraction < tmin)
{
argPool.pushVec2(4);
return false;
}
// Intersection.
output.fraction = tmin;
output.normal.x = normal.x;
output.normal.y = normal.y;
argPool.pushVec2(4);
return true;
}
public float raycastCallback(RayCastInput input, int nodeId)
{
Object userData = broadPhase.getUserData(nodeId);
FixtureProxy proxy = (FixtureProxy) userData;
Fixture fixture = proxy.fixture;
int index = proxy.childIndex;
bool hit = fixture.raycast(output, input, index);
if (hit)
{
float fraction = output.fraction;
// Vec2 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
temp.set(input.p2);
temp.mulLocal(fraction);
point.set(input.p1);
point.mulLocal(1 - fraction);
point.addLocal(temp);
return callback.reportFixture(fixture, point, output.normal, fraction);
}
return input.maxFraction;
}
/**
* @deprecated please use {@link #raycast(RayCastOutput, RayCastInput, IWorldPool)} for better
* performance
* @param output
* @param input
* @return
*/
public bool raycast(RayCastOutput output, RayCastInput input)
{
return raycast(output, input, new DefaultWorldPool(4, 4));
}
public void set(RayCastInput rci)
{
p1.set(rci.p1);
p2.set(rci.p2);
maxFraction = rci.maxFraction;
}
public float raycastCallback(RayCastInput input,
int proxyId)
{
Actor actor = (Actor) m_tree.getUserData(proxyId);
RayCastOutput output = new RayCastOutput();
bool hit = actor.aabb.raycast(output, input, getWorld().getPool());
if (hit)
{
m_rayCastOutput = output;
m_rayActor = actor;
m_rayActor.fraction = output.fraction;
return output.fraction;
}
return input.maxFraction;
}
public void RayCast()
{
m_rayActor = null;
RayCastInput input = new RayCastInput();
input.set(m_rayCastInput);
// Ray cast against the dynamic tree.
m_tree.raycast(this, input);
// Brute force ray cast.
Actor bruteActor = null;
RayCastOutput bruteOutput = new RayCastOutput();
for (int i = 0; i < _e_actorCount; ++i)
{
if (m_actors[i].proxyId == -1)
{
continue;
}
RayCastOutput output = new RayCastOutput();
bool hit = m_actors[i].aabb.raycast(output, input,
getWorld().getPool());
if (hit)
{
bruteActor = m_actors[i];
bruteOutput = output;
input.maxFraction = output.fraction;
}
}
if (bruteActor != null)
{
if (MathUtils.abs(bruteOutput.fraction
- m_rayCastOutput.fraction) > Settings.EPSILON)
{
Debug.WriteLine("wrong!");
Debug.Assert(MathUtils.abs(bruteOutput.fraction
- m_rayCastOutput.fraction) <= 20*Settings.EPSILON);
}
}
}
public override void initTest(bool argDeserialized)
{
worldExtent = 15.0f;
m_proxyExtent = 0.5f;
m_tree = new DynamicTree();
for (int i = 0; i < _e_actorCount; ++i)
{
Actor actor = m_actors[i] = new Actor();
GetRandomAABB(actor.aabb);
actor.proxyId = m_tree.createProxy(actor.aabb, actor);
}
m_stepCount = 0;
float h = worldExtent;
m_queryAABB = new AABB();
m_queryAABB.lowerBound.set(-3.0f, -4.0f + h);
m_queryAABB.upperBound.set(5.0f, 6.0f + h);
m_rayCastInput = new RayCastInput();
m_rayCastInput.p1.set(-5.0f, 5.0f + h);
m_rayCastInput.p2.set(7.0f, -4.0f + h);
// m_rayCastInput.p1.set(0.0f, 2.0f + h);
// m_rayCastInput.p2.set(0.0f, -2.0f + h);
m_rayCastInput.maxFraction = 1.0f;
m_rayCastOutput = new RayCastOutput();
m_automated = false;
}
