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use na::{self, Real};
use query::algorithms::{gjk, CSOPoint, VoronoiSimplex};
use query::{Ray, RayCast, RayIntersection};
use shape::{Capsule, Segment, SupportMap};
#[cfg(feature = "dim2")]
use shape::ConvexPolygon;
#[cfg(feature = "dim3")]
use shape::{Cone, ConvexHull, Cylinder};
use math::Isometry;
pub fn implicit_toi_and_normal_with_ray<N, G: ?Sized>(
m: &Isometry<N>,
shape: &G,
simplex: &mut VoronoiSimplex<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>>
where
N: Real,
G: SupportMap<N>,
{
let supp = shape.support_point(m, &-ray.dir);
simplex.reset(CSOPoint::single_point(supp - ray.origin.coords));
let inter = gjk::cast_ray(m, shape, simplex, ray);
if !solid {
match inter {
None => None,
Some((toi, normal)) => {
if toi.is_zero() {
let ndir = na::normalize(&ray.dir);
let supp = shape.support_point(m, &ndir);
let shift = na::dot(&(supp - ray.origin), &ndir) + na::convert(0.001f64);
let new_ray = Ray::new(ray.origin + ndir * shift, -ray.dir);
simplex.reset(CSOPoint::single_point(supp - new_ray.origin.coords));
gjk::cast_ray(m, shape, simplex, &new_ray)
.map(|(toi, normal)| RayIntersection::new(shift - toi, normal))
} else {
Some(RayIntersection::new(toi, normal))
}
}
}
} else {
inter.map(|(toi, normal)| RayIntersection::new(toi, normal))
}
}
#[cfg(feature = "dim3")]
impl<N: Real> RayCast<N> for Cylinder<N> {
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
implicit_toi_and_normal_with_ray(
&Isometry::identity(),
self,
&mut VoronoiSimplex::new(),
&ls_ray,
solid,
).map(|mut res| {
res.normal = m * res.normal;
res
})
}
}
#[cfg(feature = "dim3")]
impl<N: Real> RayCast<N> for Cone<N> {
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
implicit_toi_and_normal_with_ray(
&Isometry::identity(),
self,
&mut VoronoiSimplex::new(),
&ls_ray,
solid,
).map(|mut res| {
res.normal = m * res.normal;
res
})
}
}
impl<N: Real> RayCast<N> for Capsule<N> {
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
implicit_toi_and_normal_with_ray(
&Isometry::identity(),
self,
&mut VoronoiSimplex::new(),
&ls_ray,
solid,
).map(|mut res| {
res.normal = m * res.normal;
res
})
}
}
#[cfg(feature = "dim3")]
impl<N: Real> RayCast<N> for ConvexHull<N> {
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
implicit_toi_and_normal_with_ray(
&Isometry::identity(),
self,
&mut VoronoiSimplex::new(),
&ls_ray,
solid,
).map(|mut res| {
res.normal = m * res.normal;
res
})
}
}
#[cfg(feature = "dim2")]
impl<N: Real> RayCast<N> for ConvexPolygon<N> {
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
implicit_toi_and_normal_with_ray(
&Isometry::identity(),
self,
&mut VoronoiSimplex::new(),
&ls_ray,
solid,
).map(|mut res| {
res.normal = m * res.normal;
res
})
}
}
impl<N: Real> RayCast<N> for Segment<N> {
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let ls_ray = ray.inverse_transform_by(m);
implicit_toi_and_normal_with_ray(
&Isometry::identity(),
self,
&mut VoronoiSimplex::new(),
&ls_ray,
solid,
).map(|mut res| {
res.normal = m * res.normal;
res
})
}
}