public static bool Intersects(this Bounds bounds1, Matrix4x4 localToWorld1, Matrix4x4 worldToLocal1, Bounds bounds2, Matrix4x4 localToWorld2, Matrix4x4 worldToLocal2)
{
//Matrix4x4 worldToLocal1 = Matrix4x4.Inverse(localToWorld1);
//Matrix4x4 worldToLocal2 = Matrix4x4.Inverse(localToWorld2);
Vector3[] bounds1Points = worldToLocal2.MultiplyPoints(localToWorld1.MultiplyPoints(bounds1.EnumeratePoints())).ToArray();
Vector3[] bounds2Points = worldToLocal1.MultiplyPoints(localToWorld2.MultiplyPoints(bounds2.EnumeratePoints())).ToArray();
// This is redundant, because this will return true in a subset of cases
// with edge intersections, but Unity's methods are not in C# and might be faster.
// Requires profiling.
if (bounds1.ContainsAny(bounds2Points) || bounds2.ContainsAny(bounds1Points))
{
return(true);
}
Func <Vector3, Vector3, Bounds, bool> edgeIntersectsBounds = (point1, point2, bounds) =>
{
Ray ray = new Ray(point1, point2 - point1);
if (!bounds.IntersectRay(ray))
{
return(false);
}
return(true);
/*
* ray.origin = point2;
* ray.direction = -ray.direction;
* return bounds.IntersectRay(ray);*/
};
Func <Vector3[], Bounds, bool> pointsContainIntersectingEdge = (points, bounds) =>
{
for (int i = 0; i < points.Length - 1; i++)
{
if (points.Skip(i + 1).Any(p => edgeIntersectsBounds(points[i], p, bounds)))
{
return(true);
}
}
return(false);
};
return(pointsContainIntersectingEdge(bounds2Points, bounds1) || pointsContainIntersectingEdge(bounds1Points, bounds2));
}
public static bool Intersects(this Bounds bounds1, Transform transform1, Bounds bounds2, Transform transform2)
{
Vector3[] bounds1Points = transform2.InverseTransformPoints(bounds1.EnumeratePoints(), transform1).ToArray();
Vector3[] bounds2Points = transform1.InverseTransformPoints(bounds2.EnumeratePoints(), transform2).ToArray();
if (bounds1.ContainsAny(bounds2Points) || bounds2.ContainsAny(bounds1Points))
{
return(true);
}
Func <Vector3, Vector3, Bounds, bool> edgeIntersectsBounds = (point1, point2, bounds) =>
{
Ray ray = new Ray(point1, point2 - point1);
if (!bounds.IntersectRay(ray))
{
return(false);
}
// return true;
ray.origin = point2;
ray.direction = -ray.direction;
return(bounds.IntersectRay(ray));
};
Func <Vector3[], Bounds, bool> pointsContainIntersectingEdge = (points, bounds) =>
{
for (int i = 0; i < points.Length - 1; i++)
{
if (points.Skip(i + 1).Any(p => edgeIntersectsBounds(points[i], p, bounds)))
{
return(true);
}
}
return(false);
};
return(pointsContainIntersectingEdge(bounds2Points, bounds1) || pointsContainIntersectingEdge(bounds1Points, bounds2));
}