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let mut check_voxels_in_range = |search_domain: [Point<i32>; 2]| { |
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for vox in g1.voxels_in_range(search_domain[0], search_domain[1]) { |
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if !vox.state.is_empty() { |
|
// PERF: could we check the canonical shape instead, and deduplicate accordingly? |
|
let center = g1.voxel_center(vox.grid_coords); |
|
let cuboid = Cuboid::new(g1.voxel_size() / 2.0); |
|
let vox_pos12 = Translation::from(center).inverse() * pos12; |
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if let Some(new_hit) = dispatcher |
|
.cast_shapes(&vox_pos12, vel12, &cuboid, g2, options) |
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.ok() |
|
.flatten() |
|
{ |
|
if new_hit.time_of_impact < smallest_t { |
|
smallest_t = new_hit.time_of_impact; |
|
hit = Some(new_hit); |
|
} |
|
} |
|
} |
|
} |
|
}; |
The returned witness1 should be in local space for the voxel shape. However, we delegate the shape cast to a cuboid representing the individual voxel and never transform the result from this hit back into voxel-shape space.
