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

use na::Real;
use bounding_volume::AABB;
use shape::Compound;
use partitioning::BVTCostFn;
use query::{Ray, RayCast, RayIntersection};
use math::Isometry;

// XXX: if solid == false, this might return internal intersection.
impl<N: Real> RayCast<N> for Compound<N> {
    fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, solid: bool) -> Option<N> {
        let ls_ray = ray.inverse_transform_by(m);

        let mut cost_fn = CompoundRayToiCostFn {
            compound: self,
            ray: &ls_ray,
            solid: solid,
        };

        self.bvt()
            .best_first_search(&mut cost_fn)
            .map(|(_, res)| res)
    }

    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);

        let mut cost_fn = CompoundRayToiAndNormalCostFn {
            compound: self,
            ray: &ls_ray,
            solid: solid,
        };

        self.bvt()
            .best_first_search(&mut cost_fn)
            .map(|(_, mut res)| {
                res.normal = m * res.normal;
                res
            })
    }

    // XXX: We have to implement toi_and_normal_and_uv_with_ray! Otherwise, no uv will be computed
    // for any of the sub-shapes.
}

/*
 * Costs functions.
 */
struct CompoundRayToiCostFn<'a, N: 'a + Real> {
    compound: &'a Compound<N>,
    ray: &'a Ray<N>,
    solid: bool,
}

impl<'a, N: Real> BVTCostFn<N, usize, AABB<N>> for CompoundRayToiCostFn<'a, N> {
    type UserData = N;
    #[inline]
    fn compute_bv_cost(&mut self, aabb: &AABB<N>) -> Option<N> {
        aabb.toi_with_ray(&Isometry::identity(), self.ray, self.solid)
    }

    #[inline]
    fn compute_b_cost(&mut self, b: &usize) -> Option<(N, N)> {
        let elt = &self.compound.shapes()[*b];
        elt.1
            .toi_with_ray(&elt.0, self.ray, self.solid)
            .map(|toi| (toi, toi))
    }
}

struct CompoundRayToiAndNormalCostFn<'a, N: 'a + Real> {
    compound: &'a Compound<N>,
    ray: &'a Ray<N>,
    solid: bool,
}

impl<'a, N: Real> BVTCostFn<N, usize, AABB<N>>
    for CompoundRayToiAndNormalCostFn<'a, N> {
    type UserData = RayIntersection<N>;

    #[inline]
    fn compute_bv_cost(&mut self, aabb: &AABB<N>) -> Option<N> {
        aabb.toi_with_ray(&Isometry::identity(), self.ray, self.solid)
    }

    #[inline]
    fn compute_b_cost(&mut self, b: &usize) -> Option<(N, RayIntersection<N>)> {
        let elt = &self.compound.shapes()[*b];
        elt.1
            .toi_and_normal_with_ray(&elt.0, self.ray, self.solid)
            .map(|inter| (inter.toi, inter))
    }
}