//
// Is a cell intersecting with a rectangle
//
public static bool IsCellIntersectingWithRectangle(Vector3 cellPos, float cellSize, Rectangle obstacle)
{
bool isColliding = false;
float halfCellSize = cellSize * 0.5f;
Vector3 FL = new Vector3(cellPos.x - halfCellSize, cellPos.y, cellPos.z + halfCellSize);
Vector3 FR = new Vector3(cellPos.x + halfCellSize, cellPos.y, cellPos.z + halfCellSize);
Vector3 BL = new Vector3(cellPos.x - halfCellSize, cellPos.y, cellPos.z - halfCellSize);
Vector3 BR = new Vector3(cellPos.x + halfCellSize, cellPos.y, cellPos.z - halfCellSize);
Rectangle cell = new Rectangle(FL, FR, BL, BR);
//Step 1. AABB
if (Intersections.AreIntersectingAABB(obstacle, cell))
{
//Step 2. Triangle-triangle intersections
if (Intersections.AreRectangleRectangleIntersecting(obstacle, cell))
{
isColliding = true;
}
}
return(isColliding);
}
//
// Methods that returns obstacles that are close to a car, because it's slow to check ALL obstacles
//
//Method 1 - Search through all obstacles to find which are close within a radius
//private static List<Obstacle> FindCloseObstaclesWithinRadius(Vector3 pos, float radiusSqr)
//{
// //The list with close obstacles
// List<Obstacle> closeObstacles = new List<Obstacle>();
// //Method 1 - Search through all obstacles to find which are close
// //The list with all obstacles in the map
// List<Obstacle> allObstacles = ObstaclesController.allObstacles;
// //Find close obstacles
// for (int i = 0; i < allObstacles.Count; i++)
// {
// float distSqr = (pos - allObstacles[i].centerPos).sqrMagnitude;
// //Add to the list of close obstacles if close enough
// if (distSqr < radiusSqr)
// {
// closeObstacles.Add(allObstacles[i]);
// }
// }
// return closeObstacles;
//}
//Method 2 - Find all obstacles the car might collide with by checking surrounding cells
//might not be accurate because we dont alway knows how far from the car we should search
//private static List<Obstacle> FindCloseObstaclesCell(Vector3 carPos)
//{
// //The list with close obstacles
// List<Obstacle> closeObstacles = new List<Obstacle>();
// IntVector2 carCellPos = PathfindingController.ConvertCoordinateToCellPos(carPos);
// //Check an area of cells around the car's cell for obstacles
// //The car is 5 m long so search 3 m to each side?
// int searchArea = 3;
// for (int x = -searchArea; x <= searchArea; x++)
// {
// for (int z = -searchArea; z <= searchArea; z++)
// {
// IntVector2 cellPos = new IntVector2(carCellPos.x + x, carCellPos.z + z);
// //Is this cell within the map?
// if (PathfindingController.IsCellWithinGrid(cellPos))
// {
// //Add all obstacles from this list to the list of close obstacles
// List<Obstacle> obstaclesInCell = ObstaclesController.allObstaclesInEachCell[cellPos.x, cellPos.z];
// if (obstaclesInCell != null)
// {
// for (int i = 0; i < obstaclesInCell.Count; i++)
// {
// //Might add the same obstacle more than one time, but maybe that's not a big problem?
// closeObstacles.Add(obstaclesInCell[i]);
// }
// }
// }
// }
// }
// return closeObstacles;
//}
//Method 3 - Find all obstacles the car might collide with by using AABB
public static List <Obstacle> FindCloseObstaclesAABB(Rectangle carRect, Map map)
{
List <Obstacle> closeObstacles = new List <Obstacle>();
//The list with all obstacles in the map
List <Obstacle> allObstacles = map.allObstacles;
//Find close obstacles
for (int i = 0; i < allObstacles.Count; i++)
{
Rectangle obsRect = allObstacles[i].cornerPos;
//Are the AABB intersecting?
if (Intersections.AreIntersectingAABB(carRect, obsRect))
{
closeObstacles.Add(allObstacles[i]);
}
}
return(closeObstacles);
}
