C# VRageMath.LineD类代码示例

        //  Calculates intersection of line with any triangleVertexes in this model instance. Closest intersection and intersected triangleVertexes will be returned.
        internal override bool GetIntersectionWithLine(ref LineD line, out MyIntersectionResultLineTriangleEx? t, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
        {
            t = null;
            return false;

            //Matrix invWorld = Matrix.Invert(WorldMatrix);
            //Vector3 from = Vector3.Transform(line.From, invWorld);
            //Vector3 to = Vector3.Transform(line.To, invWorld);

            //Line lineLocal = new Line(from, to);

            //bool res = base.GetIntersectionWithLine(ref line, out t, flags);

            //if (res)
            //{
            //    var definition = MyDefinitionManager.Static.GetCubeBlockDefinition(new MyDefinitionId(MyObjectBuilderTypeEnum.Ladder));
            //    if (definition.ExcludedAreaForCamera != null)
            //    {
            //        foreach (var b in definition.ExcludedAreaForCamera)
            //        {
            //            if (b.Contains(t.Value.IntersectionPointInObjectSpace) == ContainmentType.Contains)
            //            {
            //                t = null;
            //                return false;
            //            }
            //        }
            //    }
            //}

            //return res;
        }

        public static double GetShortestDistanceSquared(LineD line1, LineD line2)
        {
            Vector3D res1, res2;
            Vector3D dP = GetShortestVector(ref line1, ref line2, out res1, out res2);

            //return Math.Sqrt(dot(dP, dP));
            return Vector3D.Dot(dP, dP);
        }

        public Sandbox.Common.MyIntersectionResultLineTriangleEx? GetIntersectionWithLine(IMyEntity physObject, ref LineD line, ref MatrixD customInvMatrix, IntersectionFlags flags)
        {
            LineD lineInModelSpace = new LineD(Vector3D.Transform(line.From, ref customInvMatrix), Vector3D.Transform(line.To, ref customInvMatrix));

            MyIntersectionResultLineTriangleEx? ret = m_rootNode.GetIntersectionWithLine(physObject, m_model, ref lineInModelSpace, null, flags);

            return ret;
        }

        public unsafe void DoWork(WorkData workData = null)
        {
            try
            {
                //MyEntities.EntityCloseLock.AcquireShared();

                if (m_renderObject == null)
                    return;

                if (m_renderObject is MyRenderVoxelCell)
                {
                }
                              
                Vector3 directionToSunNormalized = -MyRender.Sun.Direction;

                VisibleFromSun = false;

                var line2 = new LineD(m_renderObject.WorldVolume.Center, m_renderObject.WorldVolume.Center + directionToSunNormalized * MyShadowRenderer.SHADOW_MAX_OFFSET * 0.5f);
                var result2 = MyRender.GetAnyIntersectionWithLine(MyRender.ShadowPrunning, ref line2, m_renderObject, null, m_overlapList);
                VisibleFromSun |= (result2 == null); //if nothing hit, its visible from sun

                if (m_renderObject.FastCastShadowResolve)
                    return;

                Vector3D* corners = stackalloc Vector3D[8];
                m_renderObject.GetCorners(corners);

                for (int i = 0; i < 8; i++)
                {
                    LineD line = new LineD(corners[i], corners[i] + directionToSunNormalized * MyShadowRenderer.SHADOW_MAX_OFFSET * 0.5f);
                    var result = MyRender.GetAnyIntersectionWithLine(MyRender.ShadowPrunning, ref line, m_renderObject, null, m_overlapList);

                    VisibleFromSun |= (result == null);

                    if (VisibleFromSun)
                        break;
                }

                if (!VisibleFromSun)
                {
                }
            }
            finally
            {      /*
                if (m_renderObject != null)
                {
                    m_renderObject.OnClose -= m_entity_OnMarkForClose;
                }
                 */
               // MyEntities.EntityCloseLock.ReleaseShared();
            }
        }

        public MyIntersectionResultLineTriangleEx(MyIntersectionResultLineTriangle triangle, IMyEntity entity, ref LineD line)
        {
            Triangle = triangle;
            Entity = entity;
            InputLineInObjectSpace = line;

            NormalInObjectSpace = MyUtils.GetNormalVectorFromTriangle(ref Triangle.InputTriangle);
            IntersectionPointInObjectSpace = line.From + line.Direction * Triangle.Distance;

            if (Entity is IMyVoxelBase)
            {
                IntersectionPointInWorldSpace = (Vector3D)IntersectionPointInObjectSpace;
                NormalInWorldSpace = NormalInObjectSpace;

                //  This will move intersection point from world space into voxel map's object space
                IntersectionPointInObjectSpace = IntersectionPointInObjectSpace - ((IMyVoxelBase)Entity).PositionLeftBottomCorner;
            }
            else
            {
                var worldMatrix = Entity.WorldMatrix;
                NormalInWorldSpace = (Vector3)MyUtils.GetTransformNormalNormalized((Vector3D)NormalInObjectSpace, ref worldMatrix);
                IntersectionPointInWorldSpace = Vector3D.Transform((Vector3D)IntersectionPointInObjectSpace, ref worldMatrix);
            }
        }

        public void PrefetchShapeOnRay(ref LineD ray)
        {
            int lod = 1;
            Vector3D localStart;
            MyVoxelCoordSystems.WorldPositionToLocalPosition(m_voxelMap.PositionLeftBottomCorner, ref ray.From, out localStart);
            
            Vector3D localEnd;
            MyVoxelCoordSystems.WorldPositionToLocalPosition(m_voxelMap.PositionLeftBottomCorner, ref ray.To, out localEnd);

            var shape = GetShape(lod);
            Debug.Assert(shape.Base.IsValid);

            if (m_cellsToGenerateBuffer.Length < 64)
            {
                m_cellsToGenerateBuffer = new Vector3I[64];
            }

            int requiredCellsCount = shape.GetHitCellsInRange(localStart, localEnd, m_cellsToGenerateBuffer);
      
            if (requiredCellsCount == 0)
            {
                return;
            }

            ProfilerShort.Begin("Start Jobs");
            for (int i = 0; i < requiredCellsCount; ++i)
            {
                if (m_workTracker.Exists(new MyCellCoord(lod, m_cellsToGenerateBuffer[i])))
                    continue;

                MyPrecalcJobPhysicsPrefetch.Start(new MyPrecalcJobPhysicsPrefetch.Args
                {
                    TargetPhysics = this,
                    Tracker = m_workTracker,
                    GeometryCell = new MyCellCoord(lod, m_cellsToGenerateBuffer[i]),
                    Storage = m_voxelMap.Storage
                });
            }
            ProfilerShort.End();

        }

        public LineD GetDamageCapsuleLine(FlameInfo info)
        {
            var world = Matrix.CreateFromDir(Vector3.TransformNormal(info.Direction, WorldMatrix));

            var halfLenght = ThrustLengthRand * info.Radius / 2;
            halfLenght *= BlockDefinition.FlameDamageLengthScale;
            var position = Vector3D.Transform(info.Position, WorldMatrix);

            if (halfLenght > info.Radius)
                return new LineD(position - world.Forward * (info.Radius), position + world.Forward * (2 * halfLenght - info.Radius));
            else
            {
                var l = new LineD(position + world.Forward * halfLenght, position + world.Forward * halfLenght);
                l.Direction = world.Forward;
                return l;
            }
        }

        /// <summary>
        /// Calculates exact intersection point (in uniform grid coordinates) from stored havok's hit info object obtained during FindClosest grid.
        /// Returns position of intersected object in uniform grid coordinates.
        /// </summary>
        protected Vector3D? GetIntersectedBlockData(ref MatrixD inverseGridWorldMatrix, out Vector3D intersection, out MySlimBlock intersectedBlock, out ushort? compoundBlockId)
        {
            Debug.Assert(m_hitInfo != null);
            //Debug.Assert(m_hitInfo.Value.HkHitInfo.GetEntity() == CurrentGrid);

            intersection = Vector3D.Zero;
            intersectedBlock = null;
            compoundBlockId = null;

            double distance = double.MaxValue;
            Vector3D? intersectedObjectPos = null;

            var line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
            Vector3I position = Vector3I.Zero;
            if (!CurrentGrid.GetLineIntersectionExactGrid(ref line, ref position, ref distance, m_hitInfo.Value))
                return null;

            distance = Math.Sqrt(distance);
            intersectedObjectPos = position;

            intersectedBlock = CurrentGrid.GetCubeBlock(position);
            if (intersectedBlock == null)
                return null;

            // Compound block - get index of internal block for removing
            if (intersectedBlock.FatBlock is MyCompoundCubeBlock)
            {
                MyCompoundCubeBlock compoundBlock = intersectedBlock.FatBlock as MyCompoundCubeBlock;
                ushort? idInCompound = null;

                ushort blockId;
                MyIntersectionResultLineTriangleEx? triIntersection;

                if (compoundBlock.GetIntersectionWithLine(ref line, out triIntersection, out blockId))
                    idInCompound = blockId;
                else if (compoundBlock.GetBlocksCount() == 1) // If not intersecting with any internal block and there is only one then set the index to it
                    idInCompound = compoundBlock.GetBlockId(compoundBlock.GetBlocks()[0]);

                compoundBlockId = idInCompound;
            }

            Debug.Assert(intersectedObjectPos != null);
            Vector3D rayStart = Vector3D.Transform(IntersectionStart, inverseGridWorldMatrix);
            Vector3D rayDir = Vector3D.Normalize(Vector3D.TransformNormal(IntersectionDirection, inverseGridWorldMatrix));
            intersection = rayStart + distance * rayDir;
            intersection *= 1.0f / CurrentGrid.GridSize;

            return intersectedObjectPos;
        }

        protected Vector3I? IntersectCubes(MyCubeGrid grid, out double distance)
        {
            distance = float.MaxValue;

            var line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
            Vector3I position = Vector3I.Zero;
            double dstSqr = double.MaxValue;

            if (grid.GetLineIntersectionExactGrid(ref line, ref position, ref dstSqr))
            {
                distance = Math.Sqrt(dstSqr);
                return position;
            }
            return null;
        }

        public MyCubeGrid FindClosestGrid()
        {
            LineD line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);

            m_tmpHitList.Clear();
            MyPhysics.CastRay(line.From, line.To, m_tmpHitList, MyPhysics.ObjectDetectionCollisionLayer);
            // Remove character hits.
            m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hit)
            {
                return (hit.HkHitInfo.GetHitEntity() == MySession.ControlledEntity.Entity);
            });

            if (m_tmpHitList.Count == 0)
                return null;

            MyCubeGrid closestGrid = m_tmpHitList[0].HkHitInfo.GetHitEntity() as MyCubeGrid;
            return closestGrid;
        }

        public static bool TryRayCastGrid(ref LineD worldRay, out MyCubeGrid hitGrid, out Vector3D worldHitPos)
        {
            try
            {
                MyPhysics.CastRay(worldRay.From, worldRay.To, m_tmpHitList);
                foreach (var hit in m_tmpHitList)
                {
                    var cubeGrid = hit.HkHitInfo.GetHitEntity() as MyCubeGrid;
                    if (cubeGrid == null)
                        continue;

                    worldHitPos = hit.Position;
                    VRageRender.MyRenderProxy.DebugDrawAABB(new BoundingBoxD(worldHitPos - 0.01, worldHitPos + 0.01), Color.Wheat.ToVector3(), 1f, 1f, true);
                    hitGrid = cubeGrid;
                    return true;
                }

                hitGrid = default(MyCubeGrid);
                worldHitPos = default(Vector3D);
                return false;
            }
            finally
            {
                m_tmpHitList.Clear();
            }
        }

        /// <summary>
        /// Returns closest hit from line start position.
        /// </summary>
        public bool GetIntersectionWithLine(ref LineD line, ref MyCharacterHitInfo info, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
        {
            // TODO: This now uses caspule of physics rigid body on the character, it needs to be changed to ragdoll
            //       Currently this approach will be used to support Characters with different skeleton than humanoid
            if (info == null)
                info = new MyCharacterHitInfo();

            info.Reset();

            bool capsulesReady = UpdateCapsuleBones();
            if (!capsulesReady)
                return false;

            double closestDistanceToHit = double.MaxValue;

            Vector3D hitPosition = Vector3D.Zero;
            Vector3D hitPosition2 = Vector3D.Zero;
            Vector3 hitNormal = Vector3.Zero;
            Vector3 hitNormal2 = Vector3.Zero;

            int capsuleIndex = -1;
            for (int i = 0; i < m_bodyCapsules.Length; i++)
            {
                CapsuleD capsule = m_bodyCapsules[i];
                if (capsule.Intersect(line, ref hitPosition, ref hitPosition2, ref hitNormal, ref hitNormal2))
                {
                    double distanceToHit = Vector3.Distance(hitPosition, line.From);
                    if (distanceToHit >= closestDistanceToHit)
                        continue;

                    closestDistanceToHit = distanceToHit;
                    capsuleIndex = i;
                }
            }

            if (capsuleIndex != -1)
            {
                Matrix worldMatrix = PositionComp.WorldMatrix;
                int boneIndex = FindBestBone(capsuleIndex, ref hitPosition, ref worldMatrix);

                // Transform line to model static position and compute accurate collision there
                // 1. Transform line in local coordinates (used later)
                Matrix worldMatrixInv = PositionComp.WorldMatrixNormalizedInv;
                Vector3 fromTrans = Vector3.Transform(line.From, ref worldMatrixInv);
                Vector3 toTrans = Vector3.Transform(line.To, ref worldMatrixInv);
                LineD lineLocal = new LineD(fromTrans, toTrans);

                // 2. Transform line to to bone pose in binding position
                var bone = AnimationController.CharacterBones[boneIndex];
                bone.ComputeAbsoluteTransform();
                Matrix boneAbsTrans = bone.AbsoluteTransform;
                Matrix skinTransform = bone.SkinTransform;
                Matrix boneTrans = skinTransform * boneAbsTrans;
                Matrix invBoneTrans = Matrix.Invert(boneTrans);
                fromTrans = Vector3.Transform(fromTrans, ref invBoneTrans);
                toTrans = Vector3.Transform(toTrans, ref invBoneTrans);

                // 3. Move back line to world coordinates
                LineD lineTransWorld = new LineD(Vector3.Transform(fromTrans, ref worldMatrix), Vector3.Transform(toTrans, ref worldMatrix));
                MyIntersectionResultLineTriangleEx? triangle_;
                bool success = base.GetIntersectionWithLine(ref lineTransWorld, out triangle_, flags);
                if (success)
                {
                    MyIntersectionResultLineTriangleEx triangle = triangle_.Value;

                    info.CapsuleIndex = capsuleIndex;
                    info.BoneIndex = boneIndex;
                    info.Capsule = m_bodyCapsules[info.CapsuleIndex];
                    info.HitHead = info.CapsuleIndex == 0 && m_bodyCapsules.Length > 1;
                    info.HitPositionBindingPose = triangle.IntersectionPointInObjectSpace;
                    info.HitNormalBindingPose = triangle.NormalInObjectSpace;

                    // 4. Move intersection from binding to dynamic pose
                    MyTriangle_Vertexes vertices = new MyTriangle_Vertexes();
                    vertices.Vertex0 = Vector3.Transform(triangle.Triangle.InputTriangle.Vertex0, ref boneTrans);
                    vertices.Vertex1 = Vector3.Transform(triangle.Triangle.InputTriangle.Vertex1, ref boneTrans);
                    vertices.Vertex2 = Vector3.Transform(triangle.Triangle.InputTriangle.Vertex2, ref boneTrans);
                    Vector3 triangleNormal = Vector3.TransformNormal(triangle.Triangle.InputTriangleNormal, boneTrans);
                    MyIntersectionResultLineTriangle triraw = new MyIntersectionResultLineTriangle(ref vertices, ref triangleNormal, triangle.Triangle.Distance);

                    Vector3 intersectionLocal = Vector3.Transform(triangle.IntersectionPointInObjectSpace, ref boneTrans);
                    Vector3 normalLocal = Vector3.TransformNormal(triangle.NormalInObjectSpace, boneTrans);

                    // 5. Store results
                    triangle = new MyIntersectionResultLineTriangleEx();
                    triangle.Triangle = triraw;
                    triangle.IntersectionPointInObjectSpace = intersectionLocal;
                    triangle.NormalInObjectSpace = normalLocal;
                    triangle.IntersectionPointInWorldSpace = Vector3.Transform(intersectionLocal, ref worldMatrix);
                    triangle.NormalInWorldSpace = Vector3.TransformNormal(normalLocal, worldMatrix);
                    triangle.InputLineInObjectSpace = lineLocal;

                    info.Triangle = triangle;

                    if (MyDebugDrawSettings.ENABLE_DEBUG_DRAW)
                    {
                        MyRenderProxy.DebugClearPersistentMessages();
//.........这里部分代码省略.........

        Vector3D GetAimedPointFromHead()
        {
            MatrixD headMatrix = GetHeadMatrix(false);
            var endPoint = headMatrix.Translation + headMatrix.Forward * 25000;
            // Same optimization as the one in GetAimedPointFromCamera.
            return endPoint;

            if (MySession.Static.ControlledEntity == this)
            {
                LineD line = new LineD(headMatrix.Translation, endPoint);
                //Line line = new Line(MySector.MainCamera.Position, MySector.MainCamera.Position + MySector.MainCamera.ForwardVector * 1000);
                var intersection = MyEntities.GetIntersectionWithLine(ref line, this, (MyEntity)m_currentWeapon);

                if (intersection.HasValue)
                {
                    return intersection.Value.IntersectionPointInWorldSpace;
                }
                else
                {
                    return (Vector3D)line.To;
                }
            }
            else
            {
                return endPoint;
            }
        }

        //  Calculates intersection of line with any bounding sphere in this model instance. Center of the bounding sphere will be returned.
        //  It takes boundingSphereRadiusMultiplier argument which serves for extending the influence (radius) for interaction with line.
        public virtual Vector3D? GetIntersectionWithLineAndBoundingSphere(ref LineD line, float boundingSphereRadiusMultiplier)
        {
            if (Render.GetModel() == null)
                return null;

            BoundingSphereD vol = PositionComp.WorldVolume;
            vol.Radius *= boundingSphereRadiusMultiplier;

            //  Check if line intersects phys object's current bounding sphere, and if not, return 'no intersection'
            if (!MyUtils.IsLineIntersectingBoundingSphere(ref line, ref vol))
                return null;

            return vol.Center;
        }

        /// <summary>
        /// Obtain entity that player is aiming/looking at.
        /// </summary>
        public static MyEntity GetTargetEntity()
        {
            var line = new LineD(MySector.MainCamera.Position, MySector.MainCamera.Position + MySector.MainCamera.ForwardVector * 10000);

            m_tmpHitList.Clear();
            MyPhysics.CastRay(line.From, line.To, m_tmpHitList, MyPhysics.CollisionLayers.DefaultCollisionLayer);
            // Remove character hits.
            m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hit)
            {
                return (hit.HkHitInfo.GetHitEntity() == MySession.Static.ControlledEntity.Entity);
            });

            if (m_tmpHitList.Count == 0)
                return null;

            return m_tmpHitList[0].HkHitInfo.GetHitEntity() as MyEntity;
        }