public static bool ColliderCast(SphereCollider sphereToCast,
RigidTransform castStart,
float3 castEnd,
BoxCollider targetBox,
RigidTransform targetBoxTransform,
out ColliderCastResult result)
{
var start = math.transform(castStart, sphereToCast.center);
var casterInTargetSpace = math.mul(math.inverse(targetBoxTransform), castStart);
var ray = new Ray(math.transform(casterInTargetSpace, start), math.transform(casterInTargetSpace, start + castEnd - castStart.pos));
bool hit = Raycasting.RaycastRoundedBox(ray, targetBox, sphereToCast.radius, out var fraction, out var normal);
if (hit)
{
var hitTransform = castStart;
hitTransform.pos = math.lerp(castStart.pos, castEnd, fraction);
DistanceBetween(sphereToCast, hitTransform, targetBox, targetBoxTransform, 1f, out var distanceResult);
result = new ColliderCastResult
{
hitpointOnCaster = distanceResult.hitpointA,
hitpointOnTarget = distanceResult.hitpointB,
normalOnSweep = distanceResult.normalA,
normalOnTarget = distanceResult.normalB,
subColliderIndexOnCaster = distanceResult.subColliderIndexA,
subColliderIndexOnTarget = distanceResult.subColliderIndexB,
distance = math.distance(hitTransform.pos, castStart.pos)
};
return(true);
}
result = default;
return(false);
}
//Todo: No need to apply rotation to ray for sphere.
public static bool Raycast(Ray ray, SphereCollider sphere, RigidTransform sphereTransform, out RaycastResult result)
{
var rayInSphereSpace = Ray.TransformRay(math.inverse(sphereTransform), ray);
bool hit = Raycasting.RaycastSphere(rayInSphereSpace, sphere, out float fraction, out float3 normal);
result.position = math.lerp(ray.start, ray.end, fraction);
result.normal = math.rotate(sphereTransform, normal);
result.distance = math.distance(ray.start, result.position);
return(hit);
}
public static bool Raycast(Ray ray, BoxCollider box, RigidTransform boxTransform, out RaycastResult result)
{
var rayInBoxSpace = Ray.TransformRay(math.inverse(boxTransform), ray);
bool hit = Raycasting.RaycastBox(rayInBoxSpace, box, out float fraction, out float3 normal);
result.position = math.lerp(ray.start, ray.end, fraction);
result.normal = math.rotate(boxTransform, normal);
result.distance = math.distance(ray.start, result.position);
return(hit);
}
public static bool Raycast(Ray ray, CapsuleCollider capsule, RigidTransform capsuleTransform, out RaycastResult result)
{
var rayInCapsuleSpace = Ray.TransformRay(math.inverse(capsuleTransform), ray);
bool hit = Raycasting.RaycastCapsule(rayInCapsuleSpace, capsule, out float fraction, out float3 normal);
result.position = math.lerp(ray.start, ray.end, fraction);
result.normal = math.rotate(capsuleTransform, normal);
result.distance = math.distance(ray.start, result.position);
result.subColliderIndex = 0;
return(hit);
}
