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use crate::bounding_volume::AABB;
use crate::math::Isometry;
use na::RealField;
use crate::partitioning::{BestFirstBVVisitStatus, BestFirstDataVisitStatus, 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)
}
#[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_bv(&mut self, aabb: &AABB<N>) -> BestFirstBVVisitStatus<N> {
match aabb.toi_with_ray(&Isometry::identity(), self.ray, true) {
Some(toi) => BestFirstBVVisitStatus::ContinueWithCost(toi),
None => BestFirstBVVisitStatus::Stop,
}
}
#[inline]
fn visit_data(&mut self, b: &usize) -> BestFirstDataVisitStatus<N, N> {
match self
.polyline
.segment_at(*b)
.toi_with_ray(&Isometry::identity(), self.ray, true)
{
Some(toi) => BestFirstDataVisitStatus::ContinueWithResult(toi, toi),
None => BestFirstDataVisitStatus::Continue,
}
}
}
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_bv(&mut self, aabb: &AABB<N>) -> BestFirstBVVisitStatus<N> {
match aabb.toi_with_ray(&Isometry::identity(), self.ray, true) {
Some(toi) => BestFirstBVVisitStatus::ContinueWithCost(toi),
None => BestFirstBVVisitStatus::Stop,
}
}
#[inline]
fn visit_data(&mut self, b: &usize) -> BestFirstDataVisitStatus<N, (usize, RayIntersection<N>)> {
match self.polyline.segment_at(*b).toi_and_normal_with_ray(
&Isometry::identity(),
self.ray,
true,
) {
Some(inter) => BestFirstDataVisitStatus::ContinueWithResult(inter.toi, (*b, inter)),
None => BestFirstDataVisitStatus::Continue,
}
}
}