public static void ReduceToTriangles(this RotationalBounds invRotB,
out Triangle tri1,
out Triangle tri2,
out Triangle tri3,
out Triangle tri4,
out Triangle tri5,
out Triangle tri6,
out Triangle tri7,
out Triangle tri8,
out Triangle tri9,
out Triangle tri10,
out Triangle tri11,
out Triangle tri12
)
{
var p1 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, invRotB.extents.y, invRotB.extents.z);
var p2 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, -invRotB.extents.y, invRotB.extents.z);
var p3 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, invRotB.extents.y, -invRotB.extents.z);
var p4 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, -invRotB.extents.y, -invRotB.extents.z);
var p5 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, invRotB.extents.y, invRotB.extents.z);
var p6 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, -invRotB.extents.y, invRotB.extents.z);
var p7 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, invRotB.extents.y, -invRotB.extents.z);
var p8 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, -invRotB.extents.y, -invRotB.extents.z);
/*
* Handles.BeginGUI();
* Handles.Label(p1, "1");
* Handles.Label(p2, "2");
* Handles.Label(p3, "3");
* Handles.Label(p4, "4");
* Handles.Label(p5, "5");
* Handles.Label(p6, "6");
* Handles.Label(p7, "7");
* Handles.Label(p8, "8");
* Handles.EndGUI();
*/
tri1 = new Triangle(p3, p1, p2);
tri2 = new Triangle(p2, p4, p3);
tri3 = new Triangle(p7, p3, p4);
tri4 = new Triangle(p4, p8, p7);
tri5 = new Triangle(p5, p7, p8);
tri6 = new Triangle(p8, p6, p5);
tri7 = new Triangle(p1, p5, p6);
tri8 = new Triangle(p6, p2, p1);
tri9 = new Triangle(p1, p3, p7);
tri10 = new Triangle(p7, p5, p1);
tri11 = new Triangle(p2, p6, p8);
tri12 = new Triangle(p8, p4, p2);
}
/// <summary>
/// Returns a series of triangles that represent a surface of a RotationalBounds (i.e. a rotated rectangular prism)
/// </summary>
/// <param name="b"></param>
/// <param name="result"></param>
public static void ReduceToTriangles(this RotationalBounds invRotB,
out Triangle tri1,
out Triangle tri2,
out Triangle tri3,
out Triangle tri4,
out Triangle tri5,
out Triangle tri6,
out Triangle tri7,
out Triangle tri8,
out Triangle tri9,
out Triangle tri10,
out Triangle tri11,
out Triangle tri12
)
{
var p1 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, invRotB.extents.y, invRotB.extents.z);
var p2 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, -invRotB.extents.y, invRotB.extents.z);
var p3 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, invRotB.extents.y, -invRotB.extents.z);
var p4 = invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, -invRotB.extents.y, -invRotB.extents.z);
var p5 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, invRotB.extents.y, invRotB.extents.z);
var p6 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, -invRotB.extents.y, invRotB.extents.z);
var p7 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, invRotB.extents.y, -invRotB.extents.z);
var p8 = invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, -invRotB.extents.y, -invRotB.extents.z);
tri1 = new Triangle(p3, p1, p2);
tri2 = new Triangle(p2, p4, p3);
tri3 = new Triangle(p7, p3, p4);
tri4 = new Triangle(p4, p8, p7);
tri5 = new Triangle(p5, p7, p8);
tri6 = new Triangle(p8, p6, p5);
tri7 = new Triangle(p1, p5, p6);
tri8 = new Triangle(p6, p2, p1);
tri9 = new Triangle(p1, p3, p7);
tri10 = new Triangle(p7, p5, p1);
tri11 = new Triangle(p2, p6, p8);
tri12 = new Triangle(p8, p4, p2);
}
/// <summary>
/// Returns a series of triangles that represent a surface of a RotationalBounds (i.e. a rotated rectangular prism)
/// </summary>
/// <param name="b"></param>
/// <param name="result"></param>
public static void ReduceToTriangles(this RotationalBounds b, Triangle[] result)
{
if (result.Length < 12)
{
throw new Exception("Result array must be length >= 16");
}
Triangle tri1, tri2, tri3, tri4, tri5, tri6, tri7, tri8, tri9, tri10, tri11, tri12;
b.ReduceToTriangles(out tri1, out tri2, out tri3, out tri4, out tri5, out tri6, out tri7, out tri8, out tri9, out tri10, out tri11, out tri12);
result[0] = tri1;
result[1] = tri2;
result[2] = tri3;
result[3] = tri4;
result[4] = tri5;
result[5] = tri6;
result[6] = tri7;
result[7] = tri8;
result[8] = tri9;
result[9] = tri10;
result[10] = tri11;
result[11] = tri12;
}
/// <summary>
/// Do the two rectangular prisms (defined by a center, size and rotation) overlap?
/// </summary>
/// <param name="r1Center"></param>
/// <param name="r1Extents"></param>
/// <param name="r1Rot"></param>
/// <param name="r2Center"></param>
/// <param name="r2Extents"></param>
/// <param name="r2Rot"></param>
/// <returns></returns>
public static bool RectangularPrismOverlaps(Vector3 r1Center, Vector3 r1Extents, Quaternion r1Rot, Vector3 r2Center, Vector3 r2Extents, Quaternion r2Rot)
{
var invRot = Quaternion.Inverse(r1Rot);
var invRot2 = Quaternion.Inverse(r2Rot);
var axisBounds = new Bounds(invRot * r1Center, r1Extents * 2);
var invRotB = new RotationalBounds(axisBounds.center + invRot * (r1Center - r2Center), r2Extents * 2, invRot * r2Rot);
#if CUSTOMDEBUG
DebugHelper.DrawCube(axisBounds.center, axisBounds.extents, Quaternion.identity, Color.gray, 0);
DebugHelper.DrawCube(invRotB.center, invRotB.extents, invRotB.rotation, Color.gray, 0);
#endif
if (axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, invRotB.extents.y, invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, -invRotB.extents.y, invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, invRotB.extents.y, -invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(invRotB.extents.x, -invRotB.extents.y, -invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, invRotB.extents.y, invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, -invRotB.extents.y, invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, invRotB.extents.y, -invRotB.extents.z)) ||
axisBounds.Contains(invRotB.center + invRotB.rotation * new Vector3(-invRotB.extents.x, -invRotB.extents.y, -invRotB.extents.z)))
{
return(true);
}
invRotB.ReduceToTriangles(_triangleCache);
// Test x-axis aligned cube
var xzRect = new Rect(axisBounds.min.xz(), axisBounds.size.xz());
#if CUSTOMDEBUG
DebugHelper.DrawCube(new Vector3(xzRect.center.x, 0, xzRect.center.y), new Vector3(xzRect.width / 2, 0, xzRect.height / 2), Quaternion.identity, Color.black, 0);
#endif
if (!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[0].p1.xz(), _triangleCache[0].p2.xz(), _triangleCache[0].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[1].p1.xz(), _triangleCache[1].p2.xz(), _triangleCache[1].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[2].p1.xz(), _triangleCache[2].p2.xz(), _triangleCache[2].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[3].p1.xz(), _triangleCache[3].p2.xz(), _triangleCache[3].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[4].p1.xz(), _triangleCache[4].p2.xz(), _triangleCache[4].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[5].p1.xz(), _triangleCache[5].p2.xz(), _triangleCache[5].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[6].p1.xz(), _triangleCache[6].p2.xz(), _triangleCache[6].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[7].p1.xz(), _triangleCache[7].p2.xz(), _triangleCache[7].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[8].p1.xz(), _triangleCache[8].p2.xz(), _triangleCache[8].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[9].p1.xz(), _triangleCache[0].p2.xz(), _triangleCache[9].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[10].p1.xz(), _triangleCache[10].p2.xz(), _triangleCache[10].p3.xz(), xzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[11].p1.xz(), _triangleCache[11].p2.xz(), _triangleCache[11].p3.xz(), xzRect))
{
#if CUSTOMDEBUG
foreach (var triangle in _triangleCache)
{
Debug.DrawLine(triangle.p1.x0z(), triangle.p2.x0z(), Color.red);
Debug.DrawLine(triangle.p2.x0z(), triangle.p3.x0z(), Color.red);
Debug.DrawLine(triangle.p3.x0z(), triangle.p1.x0z(), Color.red);
}
#endif
return(false);
}
#if CUSTOMDEBUG
else
{
foreach (var triangle in _triangleCache)
{
Debug.DrawLine(triangle.p1.x0z(), triangle.p2.x0z(), Color.green);
Debug.DrawLine(triangle.p2.x0z(), triangle.p3.x0z(), Color.green);
Debug.DrawLine(triangle.p3.x0z(), triangle.p1.x0z(), Color.green);
}
}
#endif
var xyRect = new Rect(axisBounds.min.xy(), axisBounds.size.xy());
#if CUSTOMDEBUG
DebugHelper.DrawCube(new Vector3(xyRect.center.x, xyRect.center.y, 0), new Vector3(xyRect.width / 2, xyRect.height / 2, 0), Quaternion.identity, Color.black, 0);
#endif
if (!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[0].p1.xy(), _triangleCache[0].p2.xy(), _triangleCache[0].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[1].p1.xy(), _triangleCache[1].p2.xy(), _triangleCache[1].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[2].p1.xy(), _triangleCache[2].p2.xy(), _triangleCache[2].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[3].p1.xy(), _triangleCache[3].p2.xy(), _triangleCache[3].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[4].p1.xy(), _triangleCache[4].p2.xy(), _triangleCache[4].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[5].p1.xy(), _triangleCache[5].p2.xy(), _triangleCache[5].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[6].p1.xy(), _triangleCache[6].p2.xy(), _triangleCache[6].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[7].p1.xy(), _triangleCache[7].p2.xy(), _triangleCache[7].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[8].p1.xy(), _triangleCache[8].p2.xy(), _triangleCache[8].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[9].p1.xy(), _triangleCache[0].p2.xy(), _triangleCache[9].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[10].p1.xy(), _triangleCache[10].p2.xy(), _triangleCache[10].p3.xy(), xyRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[11].p1.xy(), _triangleCache[11].p2.xy(), _triangleCache[11].p3.xy(), xyRect))
{
#if CUSTOMDEBUG
foreach (var triangle in _triangleCache)
{
Debug.DrawLine(triangle.p1.xy0(), triangle.p2.xy0(), Color.red);
Debug.DrawLine(triangle.p2.xy0(), triangle.p3.xy0(), Color.red);
Debug.DrawLine(triangle.p3.xy0(), triangle.p1.xy0(), Color.red);
}
#endif
return(false);
}
#if CUSTOMDEBUG
else
{
foreach (var triangle in _triangleCache)
{
Debug.DrawLine(triangle.p1.xy0(), triangle.p2.xy0(), Color.green);
Debug.DrawLine(triangle.p2.xy0(), triangle.p3.xy0(), Color.green);
Debug.DrawLine(triangle.p3.xy0(), triangle.p1.xy0(), Color.green);
}
}
#endif
var yzRect = new Rect(axisBounds.min.yz(), axisBounds.size.yz());
#if CUSTOMDEBUG
DebugHelper.DrawCube(new Vector3(0, yzRect.center.x, yzRect.center.y), new Vector3(0, yzRect.width / 2, yzRect.height / 2), Quaternion.identity, Color.black, 0);
#endif
if (!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[0].p1.yz(), _triangleCache[0].p2.yz(), _triangleCache[0].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[1].p1.yz(), _triangleCache[1].p2.yz(), _triangleCache[1].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[2].p1.yz(), _triangleCache[2].p2.yz(), _triangleCache[2].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[3].p1.yz(), _triangleCache[3].p2.yz(), _triangleCache[3].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[4].p1.yz(), _triangleCache[4].p2.yz(), _triangleCache[4].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[5].p1.yz(), _triangleCache[5].p2.yz(), _triangleCache[5].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[6].p1.yz(), _triangleCache[6].p2.yz(), _triangleCache[6].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[7].p1.yz(), _triangleCache[7].p2.yz(), _triangleCache[7].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[8].p1.yz(), _triangleCache[8].p2.yz(), _triangleCache[8].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[9].p1.yz(), _triangleCache[0].p2.yz(), _triangleCache[9].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[10].p1.yz(), _triangleCache[10].p2.yz(), _triangleCache[10].p3.yz(), yzRect) &&
!OverlapUtilites2D.TriangleOverlapsRect(_triangleCache[11].p1.yz(), _triangleCache[11].p2.yz(), _triangleCache[11].p3.yz(), yzRect))
{
#if CUSTOMDEBUG
foreach (var triangle in _triangleCache)
{
Debug.DrawLine(triangle.p1.x0yz(), triangle.p2.x0yz(), Color.red);
Debug.DrawLine(triangle.p2.x0yz(), triangle.p3.x0yz(), Color.red);
Debug.DrawLine(triangle.p3.x0yz(), triangle.p1.x0yz(), Color.red);
}
#endif
return(false);
}
#if CUSTOMDEBUG
else
{
foreach (var triangle in _triangleCache)
{
Debug.DrawLine(triangle.p1.x0yz(), triangle.p2.x0yz(), Color.green);
Debug.DrawLine(triangle.p2.x0yz(), triangle.p3.x0yz(), Color.green);
Debug.DrawLine(triangle.p3.x0yz(), triangle.p1.x0yz(), Color.green);
}
}
#endif
return(true);
}
public bool Overlaps(RotationalBounds b)
{
return(Geometry3D.RectangularPrismOverlaps(center, extents, rotation, b.center, b.extents, b.rotation));
}