1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147

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
            })
    }
}

/*
 * Costs functions.
 */
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 {
                    // FIXME: optimize this by not using Isometry identity.
                    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 {
                    // FIXME: optimize this by not using Isometry identity.
                    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
        }
    }
}