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use crate::bounding_volume::AABB;
use crate::math::Isometry;
use crate::partitioning::{BestFirstVisitStatus, BestFirstVisitor, BVH};
use crate::query::{Ray, RayCast, RayIntersection};
use crate::shape::{FeatureId, Polyline};
use na::RealField;
impl<N: RealField> RayCast<N> for Polyline<N> {
#[inline]
fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, _: bool) -> Option<N> {
let ls_ray = ray.inverse_transform_by(m);
let mut visitor = PolylineRayToiVisitor {
polyline: self,
ray: &ls_ray,
max_toi,
};
self.bvt().best_first_search(&mut visitor).map(|res| res.1)
}
#[inline]
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
max_toi: N,
_: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
let mut visitor = PolylineRayToiAndNormalVisitor {
polyline: self,
ray: &ls_ray,
max_toi,
};
self.bvt()
.best_first_search(&mut visitor)
.map(|(_, (best, mut res))| {
if let FeatureId::Face(1) = res.feature {
res.feature = FeatureId::Face(best + self.edges().len());
} else {
res.feature = FeatureId::Face(best);
}
res.normal = m * res.normal;
res
})
}
}
struct PolylineRayToiVisitor<'a, N: 'a + RealField> {
polyline: &'a Polyline<N>,
ray: &'a Ray<N>,
max_toi: N,
}
impl<'a, N: RealField> BestFirstVisitor<N, usize, AABB<N>> for PolylineRayToiVisitor<'a, N> {
type Result = N;
#[inline]
fn visit(
&mut self,
best: N,
aabb: &AABB<N>,
data: Option<&usize>,
) -> BestFirstVisitStatus<N, Self::Result> {
if let Some(toi) = aabb.toi_with_ray(&Isometry::identity(), self.ray, self.max_toi, true) {
let mut res = BestFirstVisitStatus::Continue {
cost: toi,
result: None,
};
if let Some(b) = data {
if toi < best {
let segment = self.polyline.segment_at(*b);
if let Some(toi) =
segment.toi_with_ray(&Isometry::identity(), self.ray, self.max_toi, true)
{
res = BestFirstVisitStatus::Continue {
cost: toi,
result: Some(toi),
}
}
}
}
res
} else {
BestFirstVisitStatus::Stop
}
}
}
struct PolylineRayToiAndNormalVisitor<'a, N: 'a + RealField> {
polyline: &'a Polyline<N>,
ray: &'a Ray<N>,
max_toi: N,
}
impl<'a, N: RealField> BestFirstVisitor<N, usize, AABB<N>>
for PolylineRayToiAndNormalVisitor<'a, N>
{
type Result = (usize, RayIntersection<N>);
#[inline]
fn visit(
&mut self,
best: N,
aabb: &AABB<N>,
data: Option<&usize>,
) -> BestFirstVisitStatus<N, Self::Result> {
if let Some(toi) = aabb.toi_with_ray(&Isometry::identity(), self.ray, self.max_toi, true) {
let mut res = BestFirstVisitStatus::Continue {
cost: toi,
result: None,
};
if let Some(b) = data {
if toi < best {
let segment = self.polyline.segment_at(*b);
if let Some(toi) = segment.toi_and_normal_with_ray(
&Isometry::identity(),
self.ray,
self.max_toi,
true,
) {
res = BestFirstVisitStatus::Continue {
cost: toi.toi,
result: Some((*b, toi)),
};
}
}
}
res
} else {
BestFirstVisitStatus::Stop
}
}
}