bool CFlock::RayTest( Vec3 &raySrc,Vec3 &rayTrg,SFlockHit &hit )
{
// Vec3 v;
Vec3 p1,p2;
// Check all boids.
for (unsigned int i = 0; i < m_boids.size(); i++)
{
CBoidObject *boid = m_boids[i];
Lineseg lseg(raySrc,rayTrg);
Sphere sphere(boid->m_pos,boid->m_scale);
if ( Intersect::Lineseg_Sphere( lseg,sphere, p1,p2 ) > 0)
{
hit.object = boid;
hit.dist = (raySrc - p1).GetLength();
return true;
}
}
return false;
}
CNode * lseg_insert_back(CNode * hd, CNode * tl)
_(requires hd != NULL && tl != NULL)
_(requires lseg(hd, tl))
_(requires !\oset_in(tl, lseg_reach(hd, tl)))
_(ensures \result != tl)
_(ensures lseg(\result, tl))
_(ensures !\oset_in(tl, lseg_reach(\result, tl)))
;
_(dryad)
CNode * circular_list_insert_back(CNode * x)
_(requires x != NULL)
_(requires x->next != NULL)
_(requires lseg(x->next, x))
_(requires !\oset_in(x, lseg_reach(x->next, x)))
_(ensures \result != x)
_(ensures \result == x->next)
_(ensures lseg(\result, x))
_(ensures !\oset_in(x, lseg_reach(\result, x)))
{
_(assume mutable_list(x))
CNode * next = x->next;
if (next == x) {
CNode * tl = (CNode *) malloc(sizeof(CNode));
_(assume tl != NULL)
tl->next = x;
