public static bool Intersects(this IGeom geom, Bounds bounds)
{
//TODO - re-implement independent of geom, may speed this up
var geom2 = new AABBox(bounds);
return(Intersects(geom, geom2));
}
public static Sphere FromCollider(Collider c, BoundingSphereAlgorithm algorithm, bool local = false)
{
if (c is SphereCollider)
{
return(FromCollider(c as SphereCollider, local));
}
else if (c is CapsuleCollider)
{
return(FromCollider(c as CapsuleCollider, local));
}
else if (algorithm != BoundingSphereAlgorithm.FromBounds && c is MeshCollider)
{
return(FromMesh((c as MeshCollider).sharedMesh, algorithm, Trans.GetGlobal(c.transform)));
}
else
{
var bounds = AABBox.FromCollider(c, local);
return(new Sphere(bounds.Center, bounds.Extents.magnitude));
}
}
/// <summary>
/// Attempts to calculate geometry for a collider. Not tested yet.
/// </summary>
/// <param name="c"></param>
/// <returns></returns>
public static IPhysicsGeom GetGeom(this Collider c, BoundingSphereAlgorithm algorithm, bool local = false)
{
if (c == null)
{
return(null);
}
if (c is CharacterController)
{
return(Capsule.FromCollider(c as CharacterController, local));
}
if (c is CapsuleCollider)
{
return(Capsule.FromCollider(c as CapsuleCollider, local));
}
else if (c is BoxCollider)
{
return(Box.FromCollider(c as BoxCollider, local));
}
else if (c is SphereCollider)
{
return(Sphere.FromCollider(c as SphereCollider, local));
}
else if (algorithm != BoundingSphereAlgorithm.FromBounds && c is MeshCollider)
{
if (local)
{
return(Sphere.FromMesh((c as MeshCollider).sharedMesh, algorithm));
}
else
{
return(Sphere.FromMesh((c as MeshCollider).sharedMesh, algorithm, Trans.GetGlobal(c.transform)));
}
}
else
{
//otherwise just return bounds as AABBox
return(AABBox.FromCollider(c, local));
}
}
public static bool Intersects(this IGeom geom, Bounds bounds)
{
//TODO - re-implement independent of geom, may speed this up
var geom2 = new AABBox(bounds);
return Intersects(geom, geom2);
}
public static Sphere FromPoints(Vector3[] points, BoundingSphereAlgorithm algorithm)
{
switch (algorithm)
{
case BoundingSphereAlgorithm.FromBounds:
{
var bounds = AABBox.FromPoints(points);
return(new Sphere(bounds.Center, bounds.Extents.magnitude));
}
case BoundingSphereAlgorithm.Average:
{
Vector3 sum = Vector3.zero;
foreach (var v in points)
{
sum += v;
}
sum /= points.Length;
float dist = 0f;
float d;
foreach (var v in points)
{
d = (v - sum).sqrMagnitude;
if (d > dist)
{
dist = d;
}
}
dist = Mathf.Sqrt(dist);
return(new Sphere(sum, dist));
}
case BoundingSphereAlgorithm.Ritter:
{
Vector3 xmin, xmax, ymin, ymax, zmin, zmax;
xmin = ymin = zmin = Vector3.one * float.PositiveInfinity;
xmax = ymax = zmax = Vector3.one * float.NegativeInfinity;
foreach (var p in points)
{
if (p.x < xmin.x)
{
xmin = p;
}
if (p.x > xmax.x)
{
xmax = p;
}
if (p.y < ymin.y)
{
ymin = p;
}
if (p.y > ymax.y)
{
ymax = p;
}
if (p.z < zmin.z)
{
zmin = p;
}
if (p.z > zmax.z)
{
zmax = p;
}
}
var xSpan = (xmax - xmin).sqrMagnitude;
var ySpan = (ymax - ymin).sqrMagnitude;
var zSpan = (zmax - zmin).sqrMagnitude;
var dia1 = xmin;
var dia2 = xmax;
var maxSpan = xSpan;
if (ySpan > maxSpan)
{
maxSpan = ySpan;
dia1 = ymin; dia2 = ymax;
}
if (zSpan > maxSpan)
{
dia1 = zmin; dia2 = zmax;
}
var center = (dia1 + dia2) * 0.5f;
var sqRad = (dia2 - center).sqrMagnitude;
var radius = Mathf.Sqrt(sqRad);
foreach (var p in points)
{
float d = (p - center).sqrMagnitude;
if (d > sqRad)
{
var r = Mathf.Sqrt(d);
radius = (radius + r) * 0.5f;
sqRad = radius * radius;
var offset = r - radius;
center = (radius * center + offset * p) / r;
}
}
return(new Sphere(center, radius));
}
}
return(new Sphere());
}
