static float CalculateSqrDistance(Vector3 rkPoint, Bounds rkBox)
{
Vector3 closest = rkPoint - rkBox.GetCenter();
float sqrDistance = 0.0f;
for (int i = 0; i < 3; ++i)
{
float clos = closest[i];
float ext = rkBox.GetExtent()[i];
if (clos < -ext)
{
float delta = clos + ext;
sqrDistance += delta * delta;
closest[i] = -ext;
}
else if (clos > ext)
{
float delta = clos - ext;
sqrDistance += delta * delta;
closest[i] = ext;
}
}
return(sqrDistance);
}
static void CalculateClosestPoint(Vector3 rkPoint, Bounds rkBox, out Vector3 outPoint, out float outSqrDistance)
{
// compute coordinates of point in box coordinate system
Vector3 kClosest = rkPoint - rkBox.GetCenter();
// project test point onto box
float fSqrDistance = 0.0f;
float fDelta;
for (int i = 0; i < 3; i++)
{
if (kClosest[i] < -rkBox.GetExtent()[i])
{
fDelta = kClosest[i] + rkBox.GetExtent()[i];
fSqrDistance += fDelta * fDelta;
kClosest[i] = -rkBox.GetExtent()[i];
}
else if (kClosest[i] > rkBox.GetExtent()[i])
{
fDelta = kClosest[i] - rkBox.GetExtent()[i];
fSqrDistance += fDelta * fDelta;
kClosest[i] = rkBox.GetExtent()[i];
}
}
// Inside
if (fSqrDistance == 0.0F)
{
outPoint = rkPoint;
outSqrDistance = 0.0F;
}
// Outside
else
{
outPoint = kClosest + rkBox.GetCenter();
outSqrDistance = fSqrDistance;
}
}
static bool IntersectRayAABB(Ray ray, Bounds inAABB, out float outT0, out float outT1)
{
outT0 = 0; outT1 = 0;
float tmin = -Mathf.Infinity;
float tmax = Mathf.Infinity;
float t0, t1, f;
Vector3 p = inAABB.GetCenter() - ray.GetOrigin();
Vector3 extent = inAABB.GetExtent();
int i;
for (i = 0; i < 3; i++)
{
// ray and plane are paralell so no valid intersection can be found
{
f = 1.0F / ray.GetDirection()[i];
t0 = (p[i] + extent[i]) * f;
t1 = (p[i] - extent[i]) * f;
// Ray leaves on Right, Top, Back Side
if (t0 < t1)
{
if (t0 > tmin)
{
tmin = t0;
}
if (t1 < tmax)
{
tmax = t1;
}
if (tmin > tmax)
{
return(false);
}
if (tmax < 0.0F)
{
return(false);
}
}
// Ray leaves on Left, Bottom, Front Side
else
{
if (t1 > tmin)
{
tmin = t1;
}
if (t0 < tmax)
{
tmax = t0;
}
if (tmin > tmax)
{
return(false);
}
if (tmax < 0.0F)
{
return(false);
}
}
}
}
outT0 = tmin;
outT1 = tmax;
return(true);
}
