//! test for a triangle, with edges
public bool CollideTriangleExact(ref IndexedVector3 p1, ref IndexedVector3 p2, ref IndexedVector3 p3, ref Vector4 triangle_plane)
{
if (!CollidePlane(ref triangle_plane))
{
return(false);
}
IndexedVector3 center, extends;
GetCenterExtend(out center, out extends);
IndexedVector3 v1 = (p1 - center);
IndexedVector3 v2 = (p2 - center);
IndexedVector3 v3 = (p3 - center);
//First axis
IndexedVector3 diff = (v2 - v1);
IndexedVector3 abs_diff = diff.Absolute();
//Test With X axis
BoxCollision.TEST_CROSS_EDGE_BOX_X_AXIS_MCR(ref diff, ref abs_diff, ref v1, ref v3, ref extends);
//Test With Y axis
BoxCollision.TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(ref diff, ref abs_diff, ref v1, ref v3, ref extends);
//Test With Z axis
BoxCollision.TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(ref diff, ref abs_diff, ref v1, ref v3, ref extends);
diff = v3 - v2;
abs_diff = diff.Absolute();
//Test With X axis
BoxCollision.TEST_CROSS_EDGE_BOX_X_AXIS_MCR(ref diff, ref abs_diff, ref v2, ref v1, ref extends);
//Test With Y axis
BoxCollision.TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(ref diff, ref abs_diff, ref v2, ref v1, ref extends);
//Test With Z axis
BoxCollision.TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(ref diff, ref abs_diff, ref v2, ref v1, ref extends);
diff = v1 - v3;
abs_diff = diff.Absolute();
//Test With X axis
BoxCollision.TEST_CROSS_EDGE_BOX_X_AXIS_MCR(ref diff, ref abs_diff, ref v3, ref v2, ref extends);
//Test With Y axis
BoxCollision.TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(ref diff, ref abs_diff, ref v3, ref v2, ref extends);
//Test With Z axis
BoxCollision.TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(ref diff, ref abs_diff, ref v3, ref v2, ref extends);
return(true);
}
public void ProjectionInterval(ref IndexedVector3 direction, out float vmin, out float vmax)
{
IndexedVector3 center = (m_max + m_min) * 0.5f;
IndexedVector3 extend = m_max - center;
float _fOrigin = direction.Dot(ref center);
float _fMaximumExtent = extend.Dot(direction.Absolute());
vmin = _fOrigin - _fMaximumExtent;
vmax = _fOrigin + _fMaximumExtent;
}
public override void SetLocalScaling(ref IndexedVector3 scaling)
{
m_localScaling = scaling.Absolute();
}