public static bool Raycast(Ray ray, out float t, Vector3 boxCenter, Vector3 boxSize, Quaternion boxRotation, BoxEpsilon epsilon = new BoxEpsilon())
{
t = 0.0f;
boxSize += epsilon.SizeEps;
const float minBoxSize = 1e-6f;
int invalidSizeCounter = 0;
if (boxSize.x < minBoxSize)
{
++invalidSizeCounter;
}
if (boxSize.y < minBoxSize)
{
++invalidSizeCounter;
}
if (boxSize.z < minBoxSize)
{
++invalidSizeCounter;
}
if (invalidSizeCounter > 1)
{
return(false);
}
if (invalidSizeCounter == 1)
{
if (boxSize.x < minBoxSize)
{
Vector3 quadRight = boxRotation * Vector3.forward;
Vector3 quadUp = boxRotation * Vector3.up;
return(QuadMath.Raycast(ray, out t, boxCenter, boxSize.z, boxSize.y, quadRight, quadUp));
}
else
if (boxSize.y < minBoxSize)
{
Vector3 quadRight = boxRotation * Vector3.right;
Vector3 quadUp = boxRotation * Vector3.forward;
return(QuadMath.Raycast(ray, out t, boxCenter, boxSize.x, boxSize.z, quadRight, quadUp));
}
else
{
Vector3 quadRight = boxRotation * Vector3.right;
Vector3 quadUp = boxRotation * Vector3.up;
return(QuadMath.Raycast(ray, out t, boxCenter, boxSize.x, boxSize.y, quadRight, quadUp));
}
}
Matrix4x4 boxMatrix = Matrix4x4.TRS(boxCenter, boxRotation, boxSize);
Ray modelRay = ray.InverseTransform(boxMatrix);
if (modelRay.direction.sqrMagnitude == 0.0f)
{
return(false);
}
Bounds unitCube = new Bounds(Vector3.zero, Vector3.one);
if (unitCube.IntersectRay(modelRay, out t))
{
Vector3 intersectPt = boxMatrix.MultiplyPoint(modelRay.GetPoint(t));
t = (intersectPt - ray.origin).magnitude;
return(true);
}
return(false);
/*t = 0.0f;
* boxSize += epsilon.SizeEps;
*
* Matrix4x4 boxMatrix = Matrix4x4.TRS(boxCenter, boxRotation, boxSize);
* Ray modelRay = ray.InverseTransform(boxMatrix);
* if (modelRay.direction.sqrMagnitude == 0.0f) return false;
*
* Vector3 rayOrigin = modelRay.origin;
* Vector3 rayDirection = modelRay.direction;
* Vector3 rayDirectionRec = new Vector3(1.0f / rayDirection.x, 1.0f / rayDirection.y, 1.0f / rayDirection.z);
*
* float halfBoxWidth = 0.5f;
* float halfBoxHeight = 0.5f;
* float halfBoxDepth = 0.5f;
*
* Vector3 boxExtentsMin = new Vector3(-halfBoxWidth, -halfBoxHeight, -halfBoxDepth);
* Vector3 boxExtentsMax = new Vector3(halfBoxWidth, halfBoxHeight, halfBoxDepth);
*
* float highestMinimumT = float.MinValue;
* float lowestMaximumT = float.MaxValue;
*
* for (int slabIndex = 0; slabIndex < 3; ++slabIndex)
* {
* if (Mathf.Abs(rayDirection[slabIndex]) > 1e-4f)
* {
* float minimumT = (boxExtentsMin[slabIndex] - rayOrigin[slabIndex]) * rayDirectionRec[slabIndex];
* float maximumT = (boxExtentsMax[slabIndex] - rayOrigin[slabIndex]) * rayDirectionRec[slabIndex];
*
* if (minimumT > maximumT)
* {
* float temp = minimumT;
* minimumT = maximumT;
* maximumT = temp;
* }
*
* if (minimumT > highestMinimumT) highestMinimumT = minimumT;
* if (maximumT < lowestMaximumT) lowestMaximumT = maximumT;
*
* if (highestMinimumT > lowestMaximumT) return false;
* if (lowestMaximumT < 0.0f) return false;
* }
* else
* {
* if (rayOrigin[slabIndex] < boxExtentsMin[slabIndex] ||
* rayOrigin[slabIndex] > boxExtentsMax[slabIndex]) return false;
* }
* }
*
* t = highestMinimumT;
* if (t < 0.0f) t = lowestMaximumT;
*
* return true;*/
}
public static bool ContainsPoint(Vector3 point, Vector3 boxCenter, Vector3 boxSize, Quaternion boxRotation, BoxEpsilon epsilon = new BoxEpsilon())
{
boxSize += epsilon.SizeEps;
Matrix4x4 boxMatrix = Matrix4x4.TRS(boxCenter, boxRotation, boxSize);
point = boxMatrix.inverse.MultiplyPoint(point);
return(point.x >= -0.5f && point.x <= 0.5f &&
point.y >= -0.5f && point.y <= 0.5f &&
point.z >= -0.5f && point.z <= 0.5f);
}
public static bool Raycast(Ray ray, Vector3 boxCenter, Vector3 boxSize, Quaternion boxRotation, BoxEpsilon epsilon = new BoxEpsilon())
{
float t;
return(Raycast(ray, out t, boxCenter, boxSize, boxRotation, epsilon));
}
