dgInt32 dgBroadPhaseDefault::ConvexCast(dgCollisionInstance* const shape, const dgMatrix& matrix, const dgVector& target, dgFloat32& timeToImpact, OnRayPrecastAction prefilter, void* const userData, dgConvexCastReturnInfo* const info, dgInt32 maxContacts, dgInt32 threadIndex) const
{
dgInt32 totalCount = 0;
if (m_rootNode) {
dgVector boxP0;
dgVector boxP1;
dgAssert(matrix.TestOrthogonal());
shape->CalcAABB(matrix, boxP0, boxP1);
dgFloat32 distance[DG_BROADPHASE_MAX_STACK_DEPTH];
const dgBroadPhaseNode* stackPool[DG_BROADPHASE_MAX_STACK_DEPTH];
dgVector velocA((target - matrix.m_posit) & dgVector::m_triplexMask);
dgVector velocB(dgFloat32(0.0f));
dgFastRayTest ray(dgVector(dgFloat32(0.0f)), velocA);
dgVector minBox(m_rootNode->m_minBox - boxP1);
dgVector maxBox(m_rootNode->m_maxBox - boxP0);
stackPool[0] = m_rootNode;
distance[0] = ray.BoxIntersect(minBox, maxBox);
totalCount = dgBroadPhase::ConvexCast(stackPool, distance, 1, velocA, velocB, ray, shape, matrix, target, timeToImpact, prefilter, userData, info, maxContacts, threadIndex);
}
return totalCount;
}
