Function ray_cast

pub fn ray_cast(
    origin: &Vector3<f32>,
    rotation_world_to_camera: &Matrix3<f32>,
    direction: &Vector3<f32>,
    maze: &Maze,
    near: f32,
    far: f32,
) -> Result<f32, SimulationError>

Casts a ray from the camera origin in the given direction

Arguments

• origin - The origin of the ray
• rotation_world_to_camera - The rotation matrix from world to camera coordinates
• direction - The direction of the ray
• maze - The maze in the scene
• near - The minimum distance to consider
• far - The maximum distance to consider

Returns

• The distance to the closest obstacle hit by the ray

Errors

• If the ray does not hit any obstacles

Example

use peng_quad::{ray_cast, Maze};
use nalgebra::{Vector3, Matrix3};
let origin = Vector3::new(0.0, 0.0, 0.0);
let rotation_world_to_camera = Matrix3::identity();
let direction = Vector3::new(0.0, 0.0, 1.0);
let maze = Maze::new([-1.0, -1.0, -1.0], [1.0, 1.0, 1.0], 5, [0.1, 0.1, 0.1], [0.1, 0.5]);
let near = 0.1;
let far = 100.0;
let distance = ray_cast(&origin, &rotation_world_to_camera, &direction, &maze, near, far);