public static bool ColliderCast(SphereCollider sphereToCast,
RigidTransform castStart,
float3 castEnd,
SphereCollider targetSphere,
RigidTransform targetSphereTransform,
out ColliderCastResult result)
{
var cso = targetSphere;
cso.radius += sphereToCast.radius;
var start = math.transform(castStart, sphereToCast.center);
var ray = new Ray(start, start + castEnd - castStart.pos);
bool hit = Raycast(ray, cso, targetSphereTransform, out var raycastResult);
if (hit)
{
var hitTransform = castStart;
hitTransform.pos += raycastResult.position - start;
DistanceBetween(sphereToCast, hitTransform, targetSphere, targetSphereTransform, 1f, out var distanceResult);
result = new ColliderCastResult
{
hitpointOnCaster = distanceResult.hitpointA,
hitpointOnTarget = distanceResult.hitpointB,
normalOnSweep = distanceResult.normalA,
normalOnTarget = distanceResult.normalB,
subColliderIndexOnCaster = distanceResult.subColliderIndexA,
subColliderIndexOnTarget = distanceResult.subColliderIndexB,
distance = math.distance(hitTransform.pos, castStart.pos)
};
return(true);
}
result = default;
return(false);
}
public static bool ColliderCast(SphereCollider sphereToCast,
RigidTransform castStart,
float3 castEnd,
BoxCollider targetBox,
RigidTransform targetBoxTransform,
out ColliderCastResult result)
{
var start = math.transform(castStart, sphereToCast.center);
var casterInTargetSpace = math.mul(math.inverse(targetBoxTransform), castStart);
var ray = new Ray(math.transform(casterInTargetSpace, start), math.transform(casterInTargetSpace, start + castEnd - castStart.pos));
bool hit = Raycasting.RaycastRoundedBox(ray, targetBox, sphereToCast.radius, out var fraction, out var normal);
if (hit)
{
var hitTransform = castStart;
hitTransform.pos = math.lerp(castStart.pos, castEnd, fraction);
DistanceBetween(sphereToCast, hitTransform, targetBox, targetBoxTransform, 1f, out var distanceResult);
result = new ColliderCastResult
{
hitpointOnCaster = distanceResult.hitpointA,
hitpointOnTarget = distanceResult.hitpointB,
normalOnSweep = distanceResult.normalA,
normalOnTarget = distanceResult.normalB,
subColliderIndexOnCaster = distanceResult.subColliderIndexA,
subColliderIndexOnTarget = distanceResult.subColliderIndexB,
distance = math.distance(hitTransform.pos, castStart.pos)
};
return(true);
}
result = default;
return(false);
}
public static bool ColliderCast(SphereCollider sphereToCast,
RigidTransform castStart,
float3 castEnd,
CompoundCollider targetCompound,
RigidTransform targetCompoundTransform,
out ColliderCastResult result)
{
bool hit = false;
result = default;
result.distance = float.MaxValue;
ref var blob = ref targetCompound.compoundColliderBlob.Value;
public static bool ColliderCast(Collider colliderToCast,
RigidTransform castStart,
float3 castEnd,
CapsuleCollider targetCapsule,
RigidTransform targetCapsuleTransform,
out ColliderCastResult result)
{
switch (colliderToCast.type)
{
case ColliderType.Sphere:
{
SphereCollider col = colliderToCast;
return(ColliderCast(col, castStart, castEnd, targetCapsule, targetCapsuleTransform, out result));
}
case ColliderType.Capsule:
{
CapsuleCollider col = colliderToCast;
return(ColliderCast(col, castStart, castEnd, targetCapsule, targetCapsuleTransform, out result));
}
case ColliderType.Box:
{
BoxCollider col = colliderToCast;
return(ColliderCast(col, castStart, castEnd, targetCapsule, targetCapsuleTransform, out result));
}
case ColliderType.Compound:
{
CompoundCollider col = colliderToCast;
return(ColliderCast(col, castStart, castEnd, targetCapsule, targetCapsuleTransform, out result));
}
default:
result = default;
return(false);
}
}
