public static bool Raycast(Ray ray, out float t, Vector3 cylinderAxisPt0,
Vector3 cylinderAxisPt1, float cylinderRadius, float cylinderHeight, CylinderEpsilon epsilon = new CylinderEpsilon())
{
t = 0.0f;
cylinderRadius += epsilon.RadiusEps;
Vector3 cylinderAxis = (cylinderAxisPt1 - cylinderAxisPt0).normalized;
cylinderHeight += epsilon.VertEps * 2.0f;
const float minCylinderHeight = 1e-6f;
if (cylinderHeight < minCylinderHeight)
{
return(false);
}
cylinderAxisPt0 -= cylinderAxis * epsilon.VertEps;
cylinderAxisPt1 += cylinderAxis * epsilon.VertEps;
// Check intersection with cylinder plane caps
float capEnterBottom = 0.0f, capEnterTop = 0.0f;
bool hitBottomCap = false, hitTopCap = false;
Plane bottomCapPlane = new Plane(cylinderAxis, cylinderAxisPt0);
if (bottomCapPlane.Raycast(ray, out capEnterBottom))
{
Vector3 ptOnCap = ray.GetPoint(capEnterBottom);
if ((ptOnCap - cylinderAxisPt0).sqrMagnitude <= cylinderRadius * cylinderRadius)
{
hitBottomCap = true;
}
}
Plane topCapPlane = new Plane(cylinderAxis, cylinderAxisPt1);
if (topCapPlane.Raycast(ray, out capEnterTop))
{
Vector3 ptOnCap = ray.GetPoint(capEnterTop);
if ((ptOnCap - cylinderAxisPt1).sqrMagnitude <= cylinderRadius * cylinderRadius)
{
hitTopCap = true;
}
}
// We need these for the quadratic coefficients calculation
Vector3 crossRayDirectionCylinderAxis = Vector3.Cross(ray.direction, cylinderAxis);
Vector3 crossToOriginCylinderAxis = Vector3.Cross((ray.origin - cylinderAxisPt0), cylinderAxis);
// Calculate the quadratic coefficients
float a = crossRayDirectionCylinderAxis.sqrMagnitude;
float b = 2.0f * Vector3.Dot(crossRayDirectionCylinderAxis, crossToOriginCylinderAxis);
float c = crossToOriginCylinderAxis.sqrMagnitude - cylinderRadius * cylinderRadius;
// If we have a solution to the equation, the ray most likely intersects the cylinder.
float t1, t2;
if (MathEx.SolveQuadratic(a, b, c, out t1, out t2))
{
// Make sure the ray doesn't intersect the cylinder only from behind
if (t1 < 0.0f && t2 < 0.0f)
{
return(false);
}
// Make sure we are using the smallest positive t value
if (t1 < 0.0f)
{
float temp = t1;
t1 = t2;
t2 = temp;
}
t = t1;
// Now make sure that the intersection point lies within the boundaries of the cylinder axis. That is,
// make sure its projection on the cylinder axis lies between the first and second axis points.
Vector3 intersectionPoint = ray.origin + ray.direction * t;
float projection = Vector3.Dot(cylinderAxis, (intersectionPoint - cylinderAxisPt0));
// Below the first cylinder axis point?
if (projection < 0.0f)
{
// Check for intersection with caps
if (hitTopCap || hitBottomCap)
{
t = float.MaxValue;
if (hitTopCap)
{
t = capEnterTop;
}
if (hitBottomCap && t > capEnterBottom)
{
t = capEnterBottom;
}
}
else
{
t = 0.0f;
return(false);
}
}
// Above the second cylinder axis point?
if (projection > cylinderHeight)
{
// Check for intersection with caps
if (hitTopCap || hitBottomCap)
{
t = float.MaxValue;
if (hitTopCap)
{
t = capEnterTop;
}
if (hitBottomCap && t > capEnterBottom)
{
t = capEnterBottom;
}
}
else
{
t = 0.0f;
return(false);
}
}
// The intersection point is valid, so we can return true
return(true);
}
// If we reach this point, it means the ray does not intersect the cylinder in any way
return(false);
}
public static bool ContainsPoint(Vector3 point, Vector3 cylinderAxisPt0, Vector3 cylinderAxisPt1, float cylinderRadius, float cylinderHeight, CylinderEpsilon epsilon = new CylinderEpsilon())
{
Vector3 centralAxis = (cylinderAxisPt1 - cylinderAxisPt0).normalized;
Vector3 toPoint = point - cylinderAxisPt0;
float dotCentralAxis = Vector3.Dot(centralAxis, toPoint);
if (dotCentralAxis < -epsilon.VertEps || dotCentralAxis > cylinderHeight + epsilon.VertEps)
{
return(false);
}
return(((cylinderAxisPt0 + centralAxis * dotCentralAxis) - point).magnitude <= (cylinderRadius + epsilon.RadiusEps));
}
public static bool Raycast(Ray ray, out float t, Vector3 cylinderAxisPt0,
Vector3 cylinderAxisPt1, float cylinderRadius, CylinderEpsilon epsilon = new CylinderEpsilon())
{
return(Raycast(ray, out t, cylinderAxisPt0, cylinderAxisPt1, cylinderRadius, (cylinderAxisPt1 - cylinderAxisPt0).magnitude, epsilon));
}
public static bool ContainsPoint(Vector3 point, Vector3 cylinderAxisPt0, Vector3 cylinderAxisPt1, float cylinderRadius, CylinderEpsilon epsilon = new CylinderEpsilon())
{
return(ContainsPoint(point, cylinderAxisPt0, cylinderAxisPt1, cylinderRadius, (cylinderAxisPt1 - cylinderAxisPt0).magnitude, epsilon));
}