public bool Intersects(AABBThreeD aabb)
{
var obb = new OBBThreeD();
obb.SetFrom(aabb);
return(Intersects(obb, 0));
}
public AABBThreeD MinimalEnclosingAABB()
{
AABBThreeD aabb = new AABBThreeD();;
aabb.SetFrom(this);
return(aabb);
}
void SetFrom(AABBThreeD aabb)
{
pos = aabb.center;
r = aabb.halfSize;
axis[0] = new Vector3(1, 0, 0);
axis[1] = new Vector3(0, 1, 0);
axis[2] = new Vector3(0, 0, 1);
}
//错误
void AABBTransformAsAABB(AABBThreeD aabb, Matrix4x4 m)
{
//Vector3 newCenter = m.MulPos(aabb.CenterPoint());
// center = m.MultiplyPoint(aabb.CenterPoint());
Vector3 newDir;
//Vector3 h = aabb.HalfSize();
//halfSize
Vector3 h = halfSize;
//The following is equal to taking the absolute value of the whole matrix m.
newDir.x = MathFunc.ABSDOT3(m.GetRow(0), h);
newDir.y = MathFunc.ABSDOT3(m.GetRow(1), h);
newDir.z = MathFunc.ABSDOT3(m.GetRow(2), h);
aabb.minPoint = center - newDir;
aabb.maxPoint = center + newDir;
}
public bool Intersects(AABBThreeD aabb)
{
// If any of the cardinal X,Y,Z axes is a separating axis, then
// there is no intersection.
return(minPoint.x < aabb.maxPoint.x &&
minPoint.y < aabb.maxPoint.y &&
minPoint.z < aabb.maxPoint.z &&
aabb.minPoint.x < maxPoint.x &&
aabb.minPoint.y < maxPoint.y &&
aabb.minPoint.z < maxPoint.z);
}
public bool Contains(AABBThreeD aabb)
{
return(this.Contains(aabb.minPoint) && this.Contains(aabb.maxPoint));
}
void Start()
{
data = new AABBThreeD();
}