public override void Transform(Matrix4x4 matrix)
{
Matrix4x4.Decompose(matrix, out Vector3 scale, out Quaternion rotation, out Vector3 translation);
m_radius = m_radius * NetMath.Max(scale.X, NetMath.Max(scale.Y, scale.Z));
m_center = m_center + translation;
}
public static SphereCollider Transform(SphereCollider collider, Matrix4x4 matrix)
{
SphereCollider result = new SphereCollider();
Matrix4x4.Decompose(matrix, out Vector3 scale, out Quaternion rotation, out Vector3 translation);
result.Radius = collider.m_radius * NetMath.Max(scale.X, NetMath.Max(scale.Y, scale.Z));
result.Center = collider.m_center + translation;
return(result);
}
private bool Intersects(BoxCollider box, out float distance)
{
//from Real-Time Rendering
//The ray is in world spcae
distance = 0;
Vector3 d = Vector3.Normalize(m_direction);
Vector3 p = box.Center - m_position;
Matrix4x4 m = Matrix4x4.CreateFromQuaternion(box.Rotate);
Vector3[] axis = new Vector3[3];
axis[0] = new Vector3(m.M11, m.M12, m.M13);
axis[1] = new Vector3(m.M21, m.M22, m.M23);
axis[2] = new Vector3(m.M31, m.M32, m.M33);
float[] h = new float[3] {
box.Radius.X, box.Radius.Y, box.Radius.Z
};
float tmin = -float.MaxValue;
float tmax = float.MaxValue;
for (int i = 0; i < 3; i++)
{
Vector3 item = axis[i];
float radius = h[i];
float e = Vector3.Dot(item, p);
float f = Vector3.Dot(item, d);
float t1 = (e + radius) / f;
float t2 = (e - radius) / f;
if (t1 > t2)
{
float temp = t1; t1 = t2; t2 = temp;
}
tmin = NetMath.Max(tmin, t1);
tmax = NetMath.Min(tmax, t2);
if (tmin > tmax)
{
return(false);
}
if (tmax < 0)
{
return(false);
}
}
if (tmin > 0)
{
distance = tmin;
}
else
{
distance = tmax;
}
return(true);
}
public override void Transform(Vector3 translation, Quaternion rotation, Vector3 scale)
{
m_radius = m_radius * NetMath.Max(scale.X, NetMath.Max(scale.Y, scale.Z));
m_center = m_center + translation;
}