public G2OM_Candidate[] GetCandidates()
{
var array = new G2OM_Candidate[_internalCandidates.Count];
for (int i = 0; i < array.Length; i++)
{
array[i] = _nativeCandidates[i];
}
return(array);
}
public static extern G2OM_Error G2OM_GetWorldspaceCornerOfCandidate(ref G2OM_Candidate candidate, uint numberOfCorners, G2OM_Vector3[] cornersOfCandidateInWorldSpace);
public void GetColliderData(Dictionary <int, InternalCandidate> gameObjects, G2OM_Candidate[] candidates)
{
Debug.Assert(gameObjects.Count <= candidates.Length);
var i = 0;
foreach (var candidate in gameObjects)
{
var id = candidate.Key;
var go = candidate.Value.GameObject;
var collider = go.GetComponent <Collider>();
var box = collider as BoxCollider;
var sphereCollider = collider as SphereCollider;
var capsuleCollider = collider as CapsuleCollider;
Vector3 min, max;
if (box != null)
{
var size = box.size;
var center = box.center;
min = -size / 2 + center;
max = size / 2 + center;
}
else if (sphereCollider != null)
{
var center = sphereCollider.center;
var r = sphereCollider.radius;
var radius = new Vector3(r, r, r);
// Clamp box to be inside sphere
radius = Vector3.ClampMagnitude(radius, r);
min = center - radius;
max = center + radius;
}
else if (capsuleCollider != null)
{
var center = capsuleCollider.center;
var height = capsuleCollider.height;
// The value can be 0, 1 or 2 corresponding to the X, Y and Z axes, respectively.
var direction = capsuleCollider.direction;
var r = capsuleCollider.radius;
var radius = new Vector3(r, r, r);
// Remove endpoints from height value
height -= r * 2;
// Clamp box to be inside capsule
radius = Vector3.ClampMagnitude(radius, r);
height -= (r - radius.x) * 2;
Vector3 offset;
switch (direction)
{
case 0:
offset = Vector3.right * height;
break;
case 1:
offset = Vector3.up * height;
break;
case 2:
offset = Vector3.forward * height;
break;
default:
throw new Exception("This should never happen! If it does check Unity documentation for capsule colliders direction.");
}
min = center - radius - offset;
max = center + radius + offset;
}
else
{
var meshFilter = go.GetComponent <MeshFilter>();
if (meshFilter != null)
{
var mesh = meshFilter.mesh;
var bounds = mesh.bounds;
min = bounds.min;
max = bounds.max;
}
else
{
min = Vector3.zero;
max = Vector3.zero;
Debug.LogWarning(string.Format("Failed to find bounds for object {0}. Reverting to zero bounds. Please fix this issue.", go.name));
}
}
var transform = go.transform;
candidates[i] = new G2OM_Candidate(
id,
max,
min,
transform.worldToLocalMatrix,
transform.localToWorldMatrix
);
i++;
}
}
