public static int OverlapBox(Vector3 center, Vector3 halfExtents, Quaternion rotation, Collider[] colliderStorage, LayerMask killLayer)
{
var radius = new Vector3(halfExtents.x * 2.0f, halfExtents.y * 2.0f, halfExtents.z * 2.0f).magnitude;
int numOverlaps = Physics.OverlapSphereNonAlloc(center, radius, sphere_cast_collider_storage, killLayer.value);
int numBoxOverlaps = 0;
for (int i = 0; i < numOverlaps; i++)
{
var nearbyCollider = sphere_cast_collider_storage[i];
//Debug.Log("Testing against " + nearbyCollider.gameObject.name);
var nearbyBoxCollider = nearbyCollider as BoxCollider;
if (nearbyBoxCollider != null)
{
var nearbyColliderHalfExtents = nearbyBoxCollider != null?HalfExtentsFromBoxCollider(nearbyBoxCollider) : nearbyCollider.transform.localScale * 0.5f;
var nearbyColliderPosition = nearbyBoxCollider != null?PositionFromCollider(nearbyBoxCollider) : nearbyCollider.transform.position;
//Debug.Log("Position: " + nearbyCollider.transform.position);
//Debug.Log("Rotation: " + nearbyCollider.transform.rotation);
//Debug.Log("Half Extents: " + nearbyColliderHalfExtents);
//Debug.Log("Has box: " + (nearbyBoxCollider != null).ToString());
if (CollisionCheck.Box_Box(center, halfExtents, rotation, nearbyColliderPosition, nearbyColliderHalfExtents, nearbyCollider.transform.rotation))
{
colliderStorage[numBoxOverlaps++] = sphere_cast_collider_storage[i];
}
}
else
{
var nearbyMeshCollider = nearbyCollider as MeshCollider;
if (nearbyMeshCollider != null)
{
//计算这个盒子的obb，转换为obb-obb的相交测试
Vector3 centerMesh = nearbyMeshCollider.transform.TransformPoint(nearbyMeshCollider.sharedMesh.bounds.center);
Vector3 halfMesh = Vector3.Scale(nearbyMeshCollider.sharedMesh.bounds.size, nearbyMeshCollider.transform.localScale) / 2;
if (CollisionCheck.Box_Box(center, halfExtents, rotation, centerMesh, halfMesh, nearbyCollider.transform.rotation))
{
colliderStorage[numBoxOverlaps++] = sphere_cast_collider_storage[i];
}
}
}
}
return(numBoxOverlaps);
}
