private static float GetVectorLengthOfProjection(AxisPack3 axis, Vector3 projection)
{
float result = Enumerable.Range(0, 3)
.Select(x => GetVectorLengthOfProjection(projection, axis[x]))
.Sum();
return(result);
}
public bool Overlaps(OrientedRect2D other)
{
var distanceAxis = position - other.position;
var thisUnitAxis = new AxisPack3(rotation);
var thisExtentsAxis = new AxisPack3(extents, rotation);
var otherUnitAxis = new AxisPack3(other.rotation);
var otherExtentsAxis = new AxisPack3(other.extents, other.rotation);
//this
for (int i = 0, iMax = 2; i < iMax; ++i)
{
var splitAxis = thisUnitAxis[i];
var distance = GetVectorLengthOfProjection(distanceAxis, splitAxis);
distance -= this.extents[i];
distance -= GetVectorLengthOfProjection(otherExtentsAxis, splitAxis);
if (0.0f < distance)
{
//NoHit
return(false);
}
}
//other
for (int i = 0, iMax = 2; i < iMax; ++i)
{
var splitAxis = otherUnitAxis[i];
var distance = GetVectorLengthOfProjection(distanceAxis, splitAxis);
distance -= GetVectorLengthOfProjection(thisExtentsAxis, splitAxis);
distance -= other.extents[i];
if (0.0f < distance)
{
//NoHit
return(false);
}
}
//3rd split axis
for (int i = 0, iMax = 2; i < iMax; ++i)
{
for (int k = 0, kMax = 2; k < kMax; ++k)
{
var splitAxis = Vector3.Cross(thisUnitAxis[i], otherUnitAxis[k]);
var distance = GetVectorLengthOfProjection(distanceAxis, splitAxis);
distance -= GetVectorLengthOfProjection(thisExtentsAxis, splitAxis);
distance -= GetVectorLengthOfProjection(otherExtentsAxis, splitAxis);
if (0.0f < distance)
{
//NoHit
return(false);
}
}
}
//Hit
return(true);
}
