private static bool CompoundDummiesIntersect(ref Matrix thisRotation, ref Matrix otherRotation, List <MyModelDummy> thisDummies, List <MyModelDummy> otherDummies)
{
using (List <MyModelDummy> .Enumerator enumerator = thisDummies.GetEnumerator())
{
bool flag;
while (true)
{
if (enumerator.MoveNext())
{
Matrix matrix2;
MyModelDummy current = enumerator.Current;
Vector3 forward = current.Matrix.Forward;
Vector3 max = new Vector3(current.Matrix.Right.Length(), current.Matrix.Up.Length(), forward.Length()) * 0.5f;
BoundingBox box = new BoundingBox(-max, max);
Matrix matrix = Matrix.Normalize(current.Matrix);
Matrix.Multiply(ref matrix, ref thisRotation, out matrix2);
Matrix.Invert(ref matrix2, out matrix);
List <MyModelDummy> .Enumerator enumerator2 = otherDummies.GetEnumerator();
try
{
while (true)
{
Matrix matrix4;
if (!enumerator2.MoveNext())
{
break;
}
MyModelDummy dummy2 = enumerator2.Current;
forward = dummy2.Matrix.Forward;
Vector3 vector3 = new Vector3(dummy2.Matrix.Right.Length(), dummy2.Matrix.Up.Length(), forward.Length()) * 0.5f;
Matrix matrix3 = Matrix.Normalize(dummy2.Matrix);
Matrix.Multiply(ref matrix3, ref otherRotation, out matrix4);
Matrix.Multiply(ref matrix4, ref matrix, out matrix3);
MyOrientedBoundingBox box2 = MyOrientedBoundingBox.Create(new BoundingBox(-vector3, vector3), matrix3);
if (box2.Intersects(ref box))
{
return(true);
}
}
continue;
}
finally
{
enumerator2.Dispose();
continue;
}
}
else
{
goto TR_0000;
}
break;
}
return(flag);
}
TR_0000:
return(false);
}
public override void DoWork()
{
MyBoxSensorElement seBoxElement = (MyBoxSensorElement)m_SensorElement;
Matrix seBoxMatrix = seBoxElement.GetGlobalTransformation();
BoundingBox oeAABB = m_RBElement.GetWorldSpaceAABB();
BoundingBox seBB = new BoundingBox(-seBoxElement.Extent, seBoxElement.Extent);
MyOrientedBoundingBox seBoxOriented = MyOrientedBoundingBox.CreateFromBoundingBox(seBB).Transform(seBoxMatrix);
m_IsInside = seBoxOriented.Intersects(ref oeAABB);
}
public override void DoWork()
{
MyRBBoxElement rbBoxElement = (MyRBBoxElement)m_RBElement;
MyBoxSensorElement seBoxElement = (MyBoxSensorElement)m_SensorElement;
Matrix rbBoxMatrix = rbBoxElement.GetGlobalTransformation();
Matrix seBoxMatrix = seBoxElement.GetGlobalTransformation();
BoundingBox rbBB = new BoundingBox(-rbBoxElement.Size / 2f, rbBoxElement.Size / 2f);
BoundingBox seBB = new BoundingBox(-seBoxElement.Extent, seBoxElement.Extent);
MyOrientedBoundingBox rbBoxOriented = MyOrientedBoundingBox.CreateFromBoundingBox(rbBB).Transform(rbBoxMatrix);
MyOrientedBoundingBox seBoxOriented = MyOrientedBoundingBox.CreateFromBoundingBox(seBB).Transform(seBoxMatrix);
m_IsInside = rbBoxOriented.Intersects(ref seBoxOriented);
}
private static bool CompoundDummiesIntersect(ref Matrix thisRotation, ref Matrix otherRotation, List <MyModelDummy> thisDummies, List <MyModelDummy> otherDummies)
{
foreach (var dummy in thisDummies)
{
//TODO: thisBoxHalfExtends should be dummy.Matrix.Scale * 0.5 but Scale in Matrix is bad.
Vector3 thisBoxHalfExtends = new Vector3(dummy.Matrix.Right.Length(), dummy.Matrix.Up.Length(), dummy.Matrix.Forward.Length()) * 0.5f;
BoundingBox thisAABB = new BoundingBox(-thisBoxHalfExtends, thisBoxHalfExtends);
// Normalize this dummy, use inverse matrix as temporary.
Matrix thisDummyMatrixInv = Matrix.Normalize(dummy.Matrix);
// Rotate this dummy
Matrix thisDummyMatrix;
Matrix.Multiply(ref thisDummyMatrixInv, ref thisRotation, out thisDummyMatrix);
// Create trasform to this dummy (inverse).
Matrix.Invert(ref thisDummyMatrix, out thisDummyMatrixInv);
//DebugDrawAABB(thisAABB, thisDummyMatrix);
foreach (var otherDummy in otherDummies)
{
//TODO: otherBoxHalfExtends should be otherDummy.Matrix.Scale * 0.5 but Scale in Matrix is bad.
Vector3 otherBoxHalfExtends = new Vector3(otherDummy.Matrix.Right.Length(), otherDummy.Matrix.Up.Length(), otherDummy.Matrix.Forward.Length()) * 0.5f;
BoundingBox otherAABB = new BoundingBox(-otherBoxHalfExtends, otherBoxHalfExtends);
// Store normalized dummy matrix as temporary
Matrix otherDummyMatrixInThis = Matrix.Normalize(otherDummy.Matrix);
// Rotate other dummy
Matrix otherDummyMatrix;
Matrix.Multiply(ref otherDummyMatrixInThis, ref otherRotation, out otherDummyMatrix);
// Transform other dummy to this dummy
Matrix.Multiply(ref otherDummyMatrix, ref thisDummyMatrixInv, out otherDummyMatrixInThis);
MyOrientedBoundingBox obb = MyOrientedBoundingBox.Create(otherAABB, otherDummyMatrixInThis);
//DebugDrawOBB(obb, thisDummyMatrix);
if (obb.Intersects(ref thisAABB))
{
return(true);
}
}
}
return(false);
}
