void Swap(ref float a, ref float b)
{
float tmp = a;
a = b;
b = tmp;
}
void Swap(ref Vector3 a, ref Vector3 b)
{
Vector3 tmp = a;
a = b;
b = tmp;
}
bool RayAABBIntersection(ref MonoRay _ray, MonoBox _box, out Vector3 _hitpoint)
{
_hitpoint = Vector3.zero;
if (_ray == null || _box == null)
{
return(false);
}
Vector3 minP = _box.Center - b.AABBSize * 0.5f;
Vector3 maxP = _box.Center + b.AABBSize * 0.5f;
float tMin = (minP.x - _ray.Origin.x) / _ray.Direction.x;
float tMax = (maxP.x - _ray.Origin.x) / _ray.Direction.x;
if (tMax < tMin)
{
Swap(ref tMin, ref tMax);
}
float tyMin = (minP.y - _ray.Origin.y) / _ray.Direction.y;
float tyMax = (maxP.y - _ray.Origin.y) / _ray.Direction.y;
if (tyMax < tyMin)
{
Swap(ref tyMin, ref tyMax);
}
if (tMin > tyMax || tyMin > tMax)
{
return(false);
}
if (tyMin > tMin)
{
tMin = tyMin;
}
if (tyMax < tMax)
{
tMax = tyMax;
}
float tzMin = (minP.z - _ray.Origin.z) / _ray.Direction.z;
float tzMax = (maxP.z - _ray.Origin.z) / _ray.Direction.z;
if (tzMax < tzMin)
{
Swap(ref tzMin, ref tzMax);
}
if (tMin > tzMax || tzMin > tMax)
{
return(false);
}
if (tzMin > tMin)
{
tMin = tzMin;
}
if (tzMax < tMax)
{
tMax = tzMax;
}
_ray.tMin = tMin;
_ray.tMax = tMax;
_hitpoint = _ray.GetPointOnRay(tMin);
return(true);
}
bool CheckEdgeCase(MonoRay _ray, MonoBox _box, ref Vector3 _hitpoint, out bool _hitEdgeCapsule)
{
//Check if we are closer than radius to any corner
float t = 0;
bool hitEdgeCapsule = false;
//Upper Edges
float closestDistance = Mathf.Infinity;
float distance = DistancePointEdge(_hitpoint, _box.AABBCorners[0], _box.AABBCorners[1]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[0], _box.Corners[1], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[0], _box.AABBCorners[2]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[0], _box.Corners[2], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[3], _box.AABBCorners[1]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[3], _box.Corners[1], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[3], _box.AABBCorners[2]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[3], _box.Corners[2], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
//Lower Edges
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[4], _box.AABBCorners[5]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[4], _box.Corners[5], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[4], _box.AABBCorners[6]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[4], _box.Corners[6], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[7], _box.AABBCorners[5]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[7], _box.Corners[5], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[7], _box.AABBCorners[6]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[7], _box.Corners[6], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
//Standing Edges
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[0], _box.AABBCorners[4]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[0], _box.Corners[4], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[1], _box.AABBCorners[5]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[1], _box.Corners[5], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[2], _box.AABBCorners[6]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
if (RayCapsuleIntersection(_ray, _box.Corners[2], _box.Corners[6], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
distance = DistancePointEdge(_hitpoint, _box.AABBCorners[3], _box.AABBCorners[7]);
if (distance < closestDistance)
{
closestDistance = distance;
}
if (!hitEdgeCapsule && distance <= _box.AABBRadius)
{
Debug.Log("Closest to capsule 3|7");
if (RayCapsuleIntersection(_ray, _box.Corners[3], _box.Corners[7], _box.AABBRadius, out t))
{
hitEdgeCapsule = true;
}
}
debugText.text = ("Closest Dist:" + closestDistance + "/" + _box.AABBRadius + "|" + hitEdgeCapsule);
if (hitEdgeCapsule)
{
hitpoint = _ray.GetPointOnRay(t);
}
_hitEdgeCapsule = hitEdgeCapsule;
//Tell me if this was an edgecase
return(closestDistance <= _box.AABBRadius);
}