override public void Query(MyAABB aabb, out List <MyCollider> output)
{
output = new List <MyCollider>();
foreach (var ab in m_aabbs)
{
if (ab.Collides(aabb))
{
output.Add(ab.Collider());
}
}
}
public bool Collides(MyAABB other)
{
var lhsMin = min + transform.position;
var lhsMax = max + transform.position;
var rhsMin = other.min + other.transform.position;
var rhsMax = other.max + other.transform.position;
return((lhsMin.x < rhsMax.x && lhsMax.x > rhsMin.x) &&
(lhsMin.y < rhsMax.y && lhsMax.y > rhsMin.y) &&
(lhsMin.z < rhsMax.z && lhsMax.z > rhsMin.z));
}
override public bool TestRay(Ray3 ray, out float t, out Vector3 normal)
{
Vector3 min = transform.position + new Vector3(-width / 2, -height / 2, -depth / 2);
Vector3 max = transform.position + new Vector3(width / 2, height / 2, depth / 2);
Vector3 intersection;
bool b = MyAABB.HitBoundingBox(min, max, ray.pos, ray.dir, out intersection);
// hit point = ray.pos + t * ray.dir
// t = (hit point - ray.pos)/ray.dir
t = (intersection - ray.pos).magnitude / ray.dir.magnitude;
normal = (ray.pos - intersection).normalized;
Debug.DrawLine(intersection, intersection + Vector3.up, Color.red);
Debug.DrawLine(intersection, intersection + Vector3.left, Color.red);
Debug.DrawLine(intersection, intersection + Vector3.forward, Color.red);
return(b);
}
void DebugDraw(MyAABB aabb, Color color){
int i = 0;
Vector3 [] points = new Vector3[8];
points[i++] = new Vector3(aabb.max.x, aabb.max.y, aabb.max.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.max.x, aabb.max.y, aabb.min.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.max.x, aabb.min.y, aabb.max.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.max.x, aabb.min.y, aabb.min.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.min.x, aabb.max.y, aabb.max.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.min.x, aabb.max.y, aabb.min.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.min.x, aabb.min.y, aabb.max.z) + aabb.transform.position;
points[i++] = new Vector3(aabb.min.x, aabb.min.y, aabb.min.z) + aabb.transform.position;
Debug.DrawLine(points[0], points[1], color);
Debug.DrawLine(points[0], points[2], color);
Debug.DrawLine(points[1], points[3], color);
Debug.DrawLine(points[2], points[3], color);
Debug.DrawLine(points[4], points[5], color);
Debug.DrawLine(points[4], points[6], color);
Debug.DrawLine(points[5], points[7], color);
Debug.DrawLine(points[6], points[7], color);
Debug.DrawLine(points[0], points[4], color);
Debug.DrawLine(points[1], points[5], color);
Debug.DrawLine(points[2], points[6], color);
Debug.DrawLine(points[3], points[7], color);
}
// returns a list of colliders whose AABBs collide
// with a query AABB
virtual public void Query(MyAABB aabb, out List <MyCollider> output)
{
output = null;
}
virtual public void Remove(MyAABB aabb)
{
m_aabbs.Remove(aabb);
}
// adds a new AABB to the broadphase
virtual public void Add(MyAABB aabb)
{
m_aabbs.Add(aabb);
}