static uint BoxAndHalfSpace(H1Box InBox, H1Plane InPlane, ref H1CollisionDetectResult OutResult)
{
if (!H1PrimitiveIntersection.Intersect(InBox, InPlane))
{
return(0);
}
foreach (H1Vector3 BoxVertex in BoxVertices)
{
// calculate transformed box vertex
H1Vector3 TransformedBoxVertex = H1Vector3.Transform(BoxVertex * InBox.HalfSize, InBox.Transform);
// calculate the distance from the plane
float VertexDistance = H1Vector3.Dot(TransformedBoxVertex, InPlane.Normal);
// compare this to the plane's distance
if (VertexDistance <= InPlane.Distance)
{
// create the contact data
H1CollisionContact Contact = new H1CollisionContact();
Contact.ContactPoint = InPlane.Normal;
Contact.ContactPoint *= (VertexDistance - InPlane.Distance);
Contact.ContactPoint += TransformedBoxVertex;
Contact.ContactNormal = InPlane.Normal;
Contact.Penetration = InPlane.Distance - VertexDistance;
OutResult.Contacts.Add(Contact);
}
}
return(Convert.ToUInt32(OutResult.Contacts.Count));
}
public static bool Intersect(H1Box InBox, H1Plane InPlane)
{
// work out the projected radius of the box onto the plane direction
float ProjectedRadius = TransformToAxis(InBox, InPlane.Normal);
// work out how far the box is from the origin
H1Vector3 BoxPosition = InBox.Transform.Axis3;
float BoxDistance = H1Vector3.Dot(InPlane.Normal, BoxPosition) - ProjectedRadius;
// check for the intersection
return(BoxDistance <= InPlane.Distance);
}
protected void CreatePlanes(H1Vector3 InNormal, H1Vector3 InPosition, float InExtent)
{
H1Vector3 Origin = new H1Vector3(0, 0, 0);
// generate first plane
H1Vector3 PointOnPlane0 = InPosition + InNormal * InExtent;
// calculate distance from origin
float DistanceOnPlane0 = H1Vector3.Dot(PointOnPlane0 - Origin, InNormal);
Planes[0] = new H1Plane(InNormal, DistanceOnPlane0);
// generate second plane
H1Vector3 PointOnPlane1 = InPosition - InNormal * InExtent;
float DistanceOnPlane1 = H1Vector3.Dot(PointOnPlane1 - Origin, InNormal);
Planes[1] = new H1Plane(InNormal, DistanceOnPlane1);
}