Examples of jinngine.collision.RayCast.run()

jinngine.collision.RayCast.run()
Perform ray cast against the convex object defined by Sb. @param Sb support mapping of a convex shape @param Sc optional support mapping. If this support map is given, it is "added" to the ray. The ray cast then becomes a convex cast, where the convex shape given by Sc, is casted against Sb, starting at the given point and along the ray direction @param point point on ray @param direction direction of ray @param pb upon termination, pb will contain the closest point on Sb @param pc upon termination, pc will contain the closest point on Sc. If Sc is not given, the pc will contain the end-point of the ray @param lambda starting ray parameter. Defaults to zero @param envelope they ray is defined to hit the object if it is within this distance @param epsilon the desired accuracy (directly passed to GJK) @param sweep when true, the ray-cast will take sphere sweeping into account. @return t such that c = direction t + point, where c is the point of collision. If the ray does not intersect the convex shape for any positive t, then positive infinity is returned

        // if geometry is usable
        if ( gi instanceof SupportMap3) {


          RayCast raycast = new RayCast();
          Vector3 pb = new Vector3(), pc = new Vector3();
          double t = raycast.run((SupportMap3)gi, null, point, direction, pb, pc, 0, 0.05, 1e-7, true);


//          write out t for debugging
//          System.out.println("t="+t);
          
          if (t<parameter) {

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    // the centre of the sphere.
    Vector3 point = new Vector3(-4, 6, 9);
    Vector3 direction = point.multiply(-1);
    
    // do the raycast
    double lambda = raycast.run(s1, null, point, direction, new Vector3(), new Vector3(), 0, envelope, epsilon, false );
    
    // we know the exact intersection point
    Vector3 expected = point.normalize();
    
    // calculate the deviation of the returned point and the reference point

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    // the centre of the sphere.
    Vector3 point = new Vector3(-4, 6, 9);
    Vector3 direction = b1.getPosition().sub(point);
    
    // do the raycast
    double lambda = raycast.run(s1, null, point, direction, new Vector3(), new Vector3(), 0, envelope, epsilon, false );
    
    // we know the exact intersection point ( go from the centre of the sphere
    // to the boundary along the oposite ray direction )
    Vector3 expected = b1.getPosition().sub(direction.normalize());

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    Vector3 direction = new Vector3(-1,0,0);
    
    System.out.println("*********************************************************************");
    
    // do the raycast
    double lambda = raycast.run(s1, null, point, direction, new Vector3(), new Vector3(), 0, envelope, epsilon, false );
    
    // calculate the  point 
    Vector3 p = point.add(direction.multiply(lambda));
    
    System.out.println("p norm="+p.norm());

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    // move the sphere a bit downwards
    b1.setPosition(0,-envelope-2*epsilon, 0);
    
    // do the raycast
    lambda = raycast.run(s1, null, point, direction, new Vector3(), new Vector3(), 0, envelope, epsilon, false );
    
    System.out.println("returned lambda="+lambda);
    
    assertTrue( lambda == Double.POSITIVE_INFINITY);

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    // select a point (5,1,0) and the raydirection (-1,0,0)
    Vector3 point = new Vector3(0, 5, 0);
    Vector3 direction = new Vector3(0,-1,0);
    
    // do the raycast
    double lambda = raycast.run(box, null, point, direction, new Vector3(), new Vector3(), 0, envelope, epsilon, false );
    
    // calculate the  point 
    Vector3 p = point.add(direction.multiply(lambda));
    
    // expected point

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    // select a point (5,1,0) and the raydirection (-1,0,0)
    Vector3 point = new Vector3(2, 5, 9);
    Vector3 direction = new Vector3(0.5,0.5,0.5).sub(point);
    
    // do the raycast
    double lambda = raycast.run(box, null, point, direction, new Vector3(), new Vector3(), 0, envelope, epsilon, false );
    
    // calculate the  point 
    Vector3 p = point.add(direction.multiply(lambda));
    
    // expected point

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