public static bool Contains(this IConvex3Polytope a, Vector3 point)
{
if (!a.WorldBounds().Contains(point))
{
return(false);
}
foreach (var ax in a.Normals())
{
if (ax.sqrMagnitude > E && !Contains(ax, a.Vertices(), point))
{
return(false);
}
}
return(true);
}
public static IEnumerable <Volume> Find(IConvex3Polytope conv,
System.Func <Volume, bool> NarrowFilter, System.Func <Volume, bool> BroadFilter)
{
var r = Instance;
BaseBVHController <Volume> bvh;
if (r == null || (bvh = r.BVH) == null)
{
yield break;
}
var bb = conv.WorldBounds();
foreach (var v in Broadphase(bvh, bb))
{
if (BroadFilter(v) && v.GetConvexPolyhedron().Intersect(conv) && NarrowFilter(v))
{
yield return(v);
}
}
}
public static bool Intersect(this IConvex3Polytope a, IConvex3Polytope b)
{
if (!a.WorldBounds().Intersects(b.WorldBounds()))
{
return(false);
}
foreach (var ax in a.Normals())
{
if (ax.sqrMagnitude > E && !Intersect(ax, a.Vertices(), b.Vertices()))
{
return(false);
}
}
foreach (var bx in b.Normals())
{
if (bx.sqrMagnitude > E && !Intersect(bx, a.Vertices(), b.Vertices()))
{
return(false);
}
}
foreach (var ae in a.Edges())
{
foreach (var be in b.Edges())
{
var cx = Vector3.Cross(ae, be);
if (cx.sqrMagnitude > E && !Intersect(cx, a.Vertices(), b.Vertices()))
{
return(false);
}
}
}
return(true);
}