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use crate::bounding_volume::AABB;
use crate::math::Isometry;
use na::RealField;
use crate::partitioning::{BestFirstVisitStatus, BestFirstVisitor, BVH};
use crate::query::{Ray, RayCast, RayIntersection};
use crate::shape::{Polyline, FeatureId};
impl<N: RealField> RayCast<N> for Polyline<N> {
#[inline]
fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, _: bool) -> Option<N> {
let ls_ray = ray.inverse_transform_by(m);
let mut visitor = PolylineRayToiVisitor {
polyline: self,
ray: &ls_ray,
};
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>,
_: bool,
) -> Option<RayIntersection<N>>
{
let ls_ray = ray.inverse_transform_by(m);
let mut visitor = PolylineRayToiAndNormalVisitor {
polyline: self,
ray: &ls_ray,
};
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>,
}
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, 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);
match segment.toi_with_ray(&Isometry::identity(), self.ray, true) {
Some(toi) => res = BestFirstVisitStatus::Continue { cost: toi, result: Some(toi) },
None => {}
}
}
}
res
} else {
BestFirstVisitStatus::Stop
}
}
}
struct PolylineRayToiAndNormalVisitor<'a, N: 'a + RealField> {
polyline: &'a Polyline<N>,
ray: &'a Ray<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, 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);
match segment.toi_and_normal_with_ray(&Isometry::identity(), self.ray, true) {
Some(toi) => res = BestFirstVisitStatus::Continue { cost: toi.toi, result: Some((*b, toi)) },
None => {}
}
}
}
res
} else {
BestFirstVisitStatus::Stop
}
}
}