public static AABB CreateCapsuleAABB(Vector3 segment0, Vector3 segment1, float radius)
{
for (int i = 0; i < 3; i++)
{
if (segment0[i] < segment1[i])
{
segment0[i] -= radius;
segment1[i] += radius;
}
else
{
segment0[i] += radius;
segment1[i] -= radius;
}
}
return(new AABB((segment0 + segment1) * .5f, ExtVector3.Abs(segment1 - segment0) * .5f)); //It seems the extents must be positives for our overlap tests to work...
}
public ContactInfo ClosestPointOnSurface(Vector3 point, float radius)
{
trianglesBufferSingleSphere.Clear();
Vector3 localPoint = transform.InverseTransformPoint(point);
radius /= ExtVector3.Minimum(ExtVector3.Abs(transform.lossyScale));
AABB aabb = AABB.CreateSphereAABB(localPoint, radius + .001f);
tree.FindClosestTriangles(tree.rootNode, aabb, trianglesBufferSingleSphere, infoDebug);
Vector3 shortestPoint = Vector3.zero;
Vector3 p1, p2, p3, nearest;
float radiusSqrd = radius * radius;
float shortestDistance = float.MaxValue;
int shortestTriangleIndex = -1;
HashSet <int> .Enumerator enumerator = trianglesBufferSingleSphere.GetEnumerator();
while (enumerator.MoveNext())
{
tree.GetTriangleVertices(enumerator.Current, out p1, out p2, out p3);
nearest = Geometry.ClosestPointOnTriangleToPoint(p1, p2, p3, localPoint);
float distance = (localPoint - nearest).sqrMagnitude;
if (PointIsBetter(distance, shortestDistance, localPoint, shortestPoint, localPoint, nearest, shortestTriangleIndex, enumerator.Current, radiusSqrd))
{
shortestDistance = distance;
shortestPoint = nearest;
shortestTriangleIndex = enumerator.Current;
}
}
if (shortestPoint == Vector3.zero)
{
return(new ContactInfo());
}
return(new ContactInfo(transform.TransformPoint(shortestPoint), transform.TransformDirection(tree.GetTriangleNormal(shortestTriangleIndex))));
}
public List <ContactInfo> ClosestPointsOnSurface(Vector3 point, float radius, List <ContactInfo> resultsBuffer)
{
resultsBuffer.Clear();
trianglesBufferMultiSphere.Clear();
closestPointsBufferMultiSphere.Clear();
Vector3 localPoint = transform.InverseTransformPoint(point);
radius /= ExtVector3.Minimum(ExtVector3.Abs(transform.lossyScale));
AABB aabb = AABB.CreateSphereAABB(localPoint, radius + .001f);
tree.FindClosestTriangles(tree.rootNode, aabb, trianglesBufferMultiSphere, infoDebug);
Vector3 p1, p2, p3, nearest;
float radiusSqrd = radius * radius;
float distance = 0;
HashSet <int> .Enumerator enumerator = trianglesBufferMultiSphere.GetEnumerator();
while (enumerator.MoveNext())
{
tree.GetTriangleVertices(enumerator.Current, out p1, out p2, out p3);
nearest = Geometry.ClosestPointOnTriangleToPoint(p1, p2, p3, localPoint);
distance = (nearest - localPoint).sqrMagnitude;
if (distance <= radiusSqrd)
{
closestPointsBufferMultiSphere.Add(new ClosestTrianglePoint(nearest, distance, enumerator.Current, localPoint, this));
}
}
CleanUp(closestPointsBufferMultiSphere, resultsBuffer);
return(resultsBuffer);
}
public static CapsuleShape ToLocalOfUniformScale(CapsuleShape capsuleShape, Transform transform)
{
Vector3 localSegment0 = transform.InverseTransformPoint(capsuleShape.top);
Vector3 localSegment1 = transform.InverseTransformPoint(capsuleShape.bottom);
float distance = Vector3.Distance(localSegment0, localSegment1);
float difference = capsuleShape.pointsDistance / distance;
//If distance is zero, then the capsule is probably like a sphere.
//Not sure if we should just always do it the way that can handle zero.
if (Mathf.Approximately(distance, 0f) || Mathf.Approximately(difference, 0f))
{
float minimumScale = ExtVector3.Minimum(ExtVector3.Abs(transform.lossyScale));
float height = capsuleShape.height / minimumScale;
float radius = capsuleShape.radius / minimumScale;
return(new CapsuleShape((localSegment0 + localSegment1) * .5f, localSegment1 - localSegment0, height, radius));
}
else
{
return(new CapsuleShape((localSegment0 + localSegment1) * .5f, localSegment1 - localSegment0, capsuleShape.height / difference, capsuleShape.radius / difference));
}
}
public Vector3 HalfExtent()
{
return(ExtVector3.Abs((maxExtent - minExtent) * .5f));
}
