public static bool DistanceBetween(BoxCollider box,
RigidTransform boxTransform,
SphereCollider sphere,
RigidTransform sphereTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var boxWorldToLocal = math.inverse(boxTransform);
float3 sphereCenterInBoxSpace = math.transform(boxWorldToLocal, sphere.center + sphereTransform.pos);
SphereCollider sphereInBoxSpace = new SphereCollider(sphereCenterInBoxSpace, sphere.radius);
bool hit = DistanceQueries.DistanceBetween(box,
sphereInBoxSpace,
maxDistance,
out DistanceQueries.ColliderDistanceResultInternal localResult);
result = new ColliderDistanceResult
{
hitpointA = math.transform(boxTransform, localResult.hitpointA),
hitpointB = math.transform(boxTransform, localResult.hitpointB),
normalA = math.rotate(boxTransform, localResult.normalA),
normalB = math.rotate(boxTransform, localResult.normalB),
distance = localResult.distance
};
return(hit);
}
public static bool DistanceBetween(Collider collider,
RigidTransform colliderTransform,
CapsuleCollider capsule,
RigidTransform capsuleTransform,
float maxDistance,
out ColliderDistanceResult result)
{
switch (collider.type)
{
case ColliderType.Sphere:
{
SphereCollider col = collider;
return(DistanceBetween(col, colliderTransform, capsule, capsuleTransform, maxDistance, out result));
}
case ColliderType.Capsule:
{
CapsuleCollider col = collider;
return(DistanceBetween(col, colliderTransform, capsule, capsuleTransform, maxDistance, out result));
}
case ColliderType.Compound:
{
CompoundCollider col = collider;
return(DistanceBetween(col, colliderTransform, capsule, capsuleTransform, maxDistance, out result));
}
default:
result = default;
return(false);
}
}
public static bool DistanceBetween(Collider colliderA,
RigidTransform aTransform,
Collider colliderB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
switch (colliderA.type)
{
case ColliderType.Sphere:
{
SphereCollider colA = colliderA;
return(DistanceBetween(colA, aTransform, colliderB, bTransform, maxDistance, out result));
}
case ColliderType.Capsule:
{
CapsuleCollider colA = colliderA;
return(DistanceBetween(colA, aTransform, colliderB, bTransform, maxDistance, out result));
}
case ColliderType.Compound:
{
CompoundCollider colA = colliderA;
return(DistanceBetween(colA, aTransform, colliderB, bTransform, maxDistance, out result));
}
default:
result = default;
return(false);
}
}
private static ColliderDistanceResult FlipResult(ColliderDistanceResult resultToFlip)
{
return(new ColliderDistanceResult
{
hitpointA = resultToFlip.hitpointB,
hitpointB = resultToFlip.hitpointA,
normalA = resultToFlip.normalB,
normalB = resultToFlip.normalA,
distance = resultToFlip.distance
});
}
public static bool DistanceBetween(SphereCollider sphere,
RigidTransform sphereTransform,
CapsuleCollider capsule,
RigidTransform capsuleTransform,
float maxDistance,
out ColliderDistanceResult result)
{
bool hit = DistanceBetween(capsule, capsuleTransform, sphere, sphereTransform, maxDistance, out ColliderDistanceResult flipResult);
result = FlipResult(flipResult);
return(hit);
}
public static bool DistanceBetween(CompoundCollider compound,
RigidTransform compoundTransform,
SphereCollider sphere,
RigidTransform sphereTransform,
float maxDistance,
out ColliderDistanceResult result)
{
bool hit = false;
result = default;
result.distance = float.MaxValue;
ref var blob = ref compound.compoundColliderBlob.Value;
public static bool DistanceBetween(CapsuleCollider capsule,
RigidTransform capsuleTransform,
BoxCollider box,
RigidTransform boxTransform,
float maxDistance,
out ColliderDistanceResult result)
{
bool hit = DistanceBetween(box, boxTransform, capsule, capsuleTransform, maxDistance, out ColliderDistanceResult flipResult);
result = FlipResult(flipResult);
return(hit);
}
public static bool DistanceBetween(SphereCollider sphere,
RigidTransform sphereTransform,
BoxCollider box,
RigidTransform boxTransform,
float maxDistance,
out ColliderDistanceResult result)
{
bool hit = DistanceBetween(box, boxTransform, sphere, sphereTransform, maxDistance, out ColliderDistanceResult flipResult);
result = FlipResult(flipResult);
return(hit);
}
public static bool DistanceBetween(CapsuleCollider capsuleA,
RigidTransform aTransform,
CapsuleCollider capsuleB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var aWorldToLocal = math.inverse(aTransform);
var BinASpaceTransform = math.mul(aWorldToLocal, bTransform);
CapsuleCollider BinASpace = new CapsuleCollider(math.transform(BinASpaceTransform, capsuleB.pointA),
math.transform(BinASpaceTransform, capsuleB.pointB),
capsuleB.radius);
bool hit = DistanceQueries.DistanceBetween(capsuleA, BinASpace, maxDistance, out DistanceQueries.ColliderDistanceResultInternal localResult);
result = BinAResultToWorld(localResult, aTransform);
return(hit);
}
public static bool DistanceBetween(BoxCollider box,
RigidTransform boxTransform,
CapsuleCollider capsule,
RigidTransform capsuleTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var boxWorldToLocal = math.inverse(boxTransform);
var capInBoxSpaceTransform = math.mul(boxWorldToLocal, capsuleTransform);
var capsuleInBoxSpace = new CapsuleCollider(math.transform(capInBoxSpaceTransform, capsule.pointA),
math.transform(capInBoxSpaceTransform, capsule.pointB),
capsule.radius);
bool hit = DistanceQueries.DistanceBetween(box, capsuleInBoxSpace, maxDistance, out DistanceQueries.ColliderDistanceResultInternal localResult);
result = BinAResultToWorld(localResult, boxTransform);
return(hit);
}
public static bool DistanceBetween(SphereCollider sphereA,
RigidTransform aTransform,
SphereCollider sphereB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
SphereCollider bInASpace = new SphereCollider(sphereB.center + bTransform.pos - aTransform.pos, sphereB.radius);
bool hit = DistanceQueries.DistanceBetween(sphereA, bInASpace, maxDistance, out DistanceQueries.ColliderDistanceResultInternal localResult);
result = new ColliderDistanceResult
{
hitpointA = localResult.hitpointA + aTransform.pos,
hitpointB = localResult.hitpointB + aTransform.pos,
normalA = localResult.normalA,
normalB = localResult.normalB,
distance = localResult.distance
};
return(hit);
}
public static bool DistanceBetween(BoxCollider boxA,
RigidTransform aTransform,
BoxCollider boxB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var aWorldToLocal = math.inverse(aTransform);
var bWorldToLocal = math.inverse(bTransform);
var bInASpaceTransform = math.mul(aWorldToLocal, bTransform);
var aInBSpaceTransform = math.mul(bWorldToLocal, aTransform);
var hit = DistanceQueries.DistanceBetween(boxA,
boxB,
bInASpaceTransform,
aInBSpaceTransform,
maxDistance,
out DistanceQueries.ColliderDistanceResultInternal localResult);
result = BinAResultToWorld(localResult, aTransform);
return(hit);
}
