public static bool PointInCuboid(Vector _point, Cuboid _cuboid)
{
// create a cuboid at _point, of which all edges length are 0
Cuboid pointCuboid = new Cuboid(new Vector[8] {
_point, _point, _point, _point, _point, _point, _point, _point
});
// use the cuboid with cuboid check
return(CuboidInCuboid(pointCuboid, _cuboid));
}
private static Vector GetMinMax(Cuboid _cuboid, Vector _axis)
{
float min = float.PositiveInfinity;
float max = float.NegativeInfinity;
for (int i = 0; i < 8; ++i)
{
float proj = Vector.Dot(_cuboid.m_Vertices[i], _axis);
if (proj < min)
{
min = proj;
}
if (proj > max)
{
max = proj;
}
}
return(new Vector(min, max, 0.0f));
}
public static bool CuboidInCuboid(Cuboid _cuboid1, Cuboid _cuboid2)
{
Vector[] axises = new Vector[15];
// get the three edges of the first cuboid
Vector aU = _cuboid1.m_Vertices[1] - _cuboid1.m_Vertices[0];
Vector aV = _cuboid1.m_Vertices[3] - _cuboid1.m_Vertices[0];
Vector aW = new Vector(0, 0, 0);
// get the three edges of the second cuboid
Vector bU = _cuboid2.m_Vertices[1] - _cuboid2.m_Vertices[0];
Vector bV = _cuboid2.m_Vertices[3] - _cuboid2.m_Vertices[0];
Vector bW = new Vector(0, 0, 0);;
// Cuboid down/up
axises[0] = Vector.Cross(aU, aV);
axises[1] = Vector.Cross(bU, bV);
// Cuboid front/back
axises[2] = Vector.Cross(aU, aW);
axises[3] = Vector.Cross(bU, bW);
// Cuboid left/right
axises[4] = Vector.Cross(aV, aW);
axises[5] = Vector.Cross(bV, bW);
// interaxis
axises[6] = Vector.Cross(aU, bU);
axises[7] = Vector.Cross(aU, bV);
axises[8] = Vector.Cross(aU, bW);
axises[9] = Vector.Cross(aV, bU);
axises[10] = Vector.Cross(aV, bV);
axises[11] = Vector.Cross(aV, bW);
axises[12] = Vector.Cross(aW, bU);
axises[13] = Vector.Cross(aW, bV);
axises[14] = Vector.Cross(aW, bW);
// iterate over them
for (int i = 0; i < axises.Length; ++i)
{
Vector axis = axises[i];
// ignore all axis which have no length
if (Vector.SqrMagnitude(axis) == 0.0f)
{
continue;
}
axis = Vector.Normalize(axis);
// get the min max of the first cuboid
Vector minMax1 = GetMinMax(_cuboid1, axis);
float min1 = minMax1.X;
float max1 = minMax1.Y;
// get the min max of the second cuboid
Vector minMax2 = GetMinMax(_cuboid2, axis);
float min2 = minMax2.X;
float max2 = minMax2.Y;
// check if an intersection on the axis happened
bool intersection = (min1 >= min2 && min1 <= max2) ||
(min2 >= min1 && min2 <= max1);
// if no intersection on the given axis happend
if (!intersection)
{
// we found a dividing plane
return(false);
}
}
// intersections on all axis found, there is no dividing plane
return(true);
}
public static Vector CenterOfCuboid(Cuboid _cuboid)
{
return(new Vector(_cuboid.m_Vertices[0].X + (_cuboid.m_Vertices[1].X * 0.5f), (_cuboid.m_Vertices[0].Y + (_cuboid.m_Vertices[3]).Y * 0.5f), 0));
}
