/// <summary>
/// 指定ボーンのすべての子へのラインに対して最近接点距離を返す
/// </summary>
/// <param name="pos"></param>
/// <param name="bone"></param>
/// <param name="lineWidth"></param>
/// <returns></returns>
public static float ClosestPtBoneLine(Vector3 pos, Transform bone, float lineWidth, out Vector3 d)
{
float mindist = 10000;
d = bone.position;
// 子がいない場合はそのまま
if (bone.childCount == 0)
{
mindist = Mathf.Max(Vector3.Distance(pos, bone.position) - lineWidth, 0.0f);
return(mindist);
}
// すべての子へのラインに対して判定
for (int i = 0; i < bone.childCount; i++)
{
var child = bone.GetChild(i);
var spos = bone.position;
var epos = child.position;
var w = MathUtility.ClosestPtPointSegment(pos, spos, epos);
float dist = Mathf.Max(Vector3.Distance(pos, w) - lineWidth, 0.0f);
//mindist = Mathf.Min(dist, mindist);
if (dist < mindist)
{
mindist = dist;
d = w;
}
}
return(mindist);
}
/// <summary>
/// 球衝突判定
/// </summary>
/// <param name="nextpos0">エッジの始点</param>
/// <param name="nextpos1">エッジの終点</param>
/// <param name="corr0"></param>
/// <param name="corr1"></param>
/// <param name="radius"></param>
/// <param name="cindex"></param>
/// <returns></returns>
bool SphereColliderDetection(float3 nextpos0, float3 nextpos1, ref float3 corr0, ref float3 corr1, float radius, int cindex)
//bool SphereColliderDetection(float3 nextpos0, float3 nextpos1, float3 oldpos0, float3 oldpos1, ref float3 corr0, ref float3 corr1, float radius, int cindex)
{
var cpos = nextPosList[cindex];
var coldpos = posList[cindex];
var cradius = radiusList[cindex];
// コライダー球とエッジの最接近点を求める
float3 d = MathUtility.ClosestPtPointSegment(coldpos, nextpos0, nextpos1);
//float3 d = MathUtility.ClosestPtPointSegment(coldpos, oldpos0, oldpos1);
float3 n = math.normalize(d - coldpos);
float3 c = cpos + n * (cradius + radius);
// c = 平面位置
// n = 平面方向
// 平面衝突判定と押し出し
float3 outpos0, outpos1;
bool ret0 = MathUtility.IntersectPointPlane(c, n, nextpos0, out outpos0);
bool ret1 = MathUtility.IntersectPointPlane(c, n, nextpos1, out outpos1);
if (ret0)
{
corr0 += outpos0 - nextpos0;
}
if (ret1)
{
corr1 += outpos1 - nextpos1;
}
return(ret0 || ret1);
}