bool RaySphereIntersection(MonoRay _ray, Vector3 _center, float _radius, out float t)
{
t = 0;
//Solutions for t if the ray intersects the sphere
float t0, t1;
Vector3 L = _ray.Origin - _center;
float a = Vector3.Dot(_ray.Direction, _ray.Direction);
float b = 2 * Vector3.Dot(_ray.Direction, L);
float c = Vector3.Dot(L, L) - _radius * _radius;
if (!SolveQuadratic(a, b, c, out t0, out t1))
{
return(false);
}
if (t0 > t1)
{
Swap(ref t0, ref t1);
}
if (t0 < 0)
{
t0 = t1; //if t0 is negative let's use t1 instead
if (t0 < 0)
{
return(false); //both t0 and t1 are negative
}
}
t = t0;
return(true);
}
bool RayCylinderIntersection(MonoRay _ray, Vector3 _edge0, Vector3 _edge1, float _radius, out float t)
{
t = 0;
//Define fixed CoordinateSystem
Vector3 z = (_edge1 - _edge0).normalized;
Vector3 y = Vector3.up;
if (z.y != 0)
{
y = Vector3.forward;
}
Vector3 x = Vector3.Cross(z, y).normalized;
//CoordinateSystemMatrix
Matrix4x4 C = new Matrix4x4(new Vector4(x.x, x.y, x.z, 0), new Vector4(y.x, y.y, y.z, 0), new Vector4(z.x, z.y, z.z, 0), new Vector4(0, 0, 0, 1));
//Debug.Log("Matrix C:\n" + C);
//Transform Ray and Cylinder to fixed Coordinatesystem (capsule along z axis)
Vector3 originC = C * _ray.Origin;
Vector3 dirC = C * _ray.Direction;
Vector3 edge0C = C * _edge0;
Vector3 edge1C = C * _edge1;
if (edge0C.z > edge1C.z)
{
Swap(ref edge0C, ref edge1C);
}
//Debug.Log("edge0:" + _edge0 + "|" + edge0C);
//Debug.Log("edge1:" + _edge1 + "|" + edge1C);
//Project to z-Axis
Vector2 edge0CP = new Vector2(edge0C.x, edge0C.y);
Vector2 edge1CP = new Vector2(edge1C.x, edge1C.y);
Vector2 originCP = new Vector2(originC.x, originC.y);
Vector2 dirCP = new Vector2(dirC.x, dirC.y);
//Ray Circle Check
if (RayCircleIntersection(originCP, dirCP, edge0CP, 1, out t))
{
//Debug.Log("CircleIntersection");
//Interval Check
Vector3 pC = originC + dirC * t;
if (pC.z > edge1C.z || pC.z < edge0C.z)
{
//Debug.Log("out of Interval");
return(false);
}
return(true);
}
return(false);
}
bool RayCapsuleIntersection(MonoRay _ray, Vector3 _edge0, Vector3 _edge1, float _radius, out float t)
{
float t0 = 0;
if (RayCylinderIntersection(_ray, _edge0, _edge1, _radius, out t0))
{
t = t0;
return(true);
}
if (RaySphereIntersection(_ray, _edge0, _radius, out t0) || RaySphereIntersection(_ray, _edge1, _radius, out t0))
{
t = t0;
return(true);
}
else
{
t = 0;
return(false);
}
}
bool RayAABBIntersection(ref MonoRay _ray, MonoBox _box, out Vector3 _hitpoint)
{
_hitpoint = Vector3.zero;
if (_ray == null || _box == null)
{
return(false);
}
Vector3 minP = _box.Center - b.AABBSize * 0.5f;
Vector3 maxP = _box.Center + b.AABBSize * 0.5f;
float tMin = (minP.x - _ray.Origin.x) / _ray.Direction.x;
float tMax = (maxP.x - _ray.Origin.x) / _ray.Direction.x;
if (tMax < tMin)
{
Swap(ref tMin, ref tMax);
}
float tyMin = (minP.y - _ray.Origin.y) / _ray.Direction.y;
float tyMax = (maxP.y - _ray.Origin.y) / _ray.Direction.y;
if (tyMax < tyMin)
{
Swap(ref tyMin, ref tyMax);
}
if (tMin > tyMax || tyMin > tMax)
{
return(false);
}
if (tyMin > tMin)
{
tMin = tyMin;
}
if (tyMax < tMax)
{
tMax = tyMax;
}
float tzMin = (minP.z - _ray.Origin.z) / _ray.Direction.z;
float tzMax = (maxP.z - _ray.Origin.z) / _ray.Direction.z;
if (tzMax < tzMin)
{
Swap(ref tzMin, ref tzMax);
}
if (tMin > tzMax || tzMin > tMax)
{
return(false);
}
if (tzMin > tMin)
{
tMin = tzMin;
}
if (tzMax < tMax)
{
tMax = tzMax;
}
_ray.tMin = tMin;
_ray.tMax = tMax;
_hitpoint = _ray.GetPointOnRay(tMin);
return(true);
}
bool CheckEdgeCase(MonoRay _ray, MonoBox _box, ref Vector3 _hitpoint, out bool _hitEdgeCapsule)
{
//Check if we are closer than radius to any corner
float t = 0;
bool hitEdgeCapsule = false;
//Upper Edges
float closestDistance = Mathf.Infinity;
float distance = DistancePointEdge(_hitpoint, _box.AABBCorners[0], _box.AABBCorners[1]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[0], _box.Corners[1], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[0], _box.AABBCorners[2]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[0], _box.Corners[2], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[3], _box.AABBCorners[1]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[3], _box.Corners[1], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[3], _box.AABBCorners[2]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[3], _box.Corners[2], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
//Lower Edges
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[4], _box.AABBCorners[5]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[4], _box.Corners[5], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[4], _box.AABBCorners[6]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[4], _box.Corners[6], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[7], _box.AABBCorners[5]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[7], _box.Corners[5], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[7], _box.AABBCorners[6]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[7], _box.Corners[6], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
//Standing Edges
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[0], _box.AABBCorners[4]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[0], _box.Corners[4], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[1], _box.AABBCorners[5]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[1], _box.Corners[5], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[2], _box.AABBCorners[6]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[2], _box.Corners[6], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[3], _box.AABBCorners[7]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
Debug.Log("Closest to capsule 3|7");
if (RayCapsuleIntersection(_ray, _box.Corners[3], _box.Corners[7], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
debugText.text = ("Closest Dist:" + closestDistance + "/" + _box.AABBRadius + "|" + hitEdgeCapsule);
if (hitEdgeCapsule)
{
hitpoint = _ray.GetPointOnRay(t);
}
_hitEdgeCapsule = hitEdgeCapsule;
//Tell me if this was an edgecase
return(closestDistance <= _box.AABBRadius);
}
