public bool IsSpanningOrIsCloseInFrontOrOnPlane(Plane plane, float allowedClosestDistance)
{
BoxPlaneClassificationResult boxClassificationResult = plane.ClassifyOrientedBox(this);
if (boxClassificationResult == BoxPlaneClassificationResult.Spanning ||
boxClassificationResult == BoxPlaneClassificationResult.OnPlane)
{
return(true);
}
if (boxClassificationResult == BoxPlaneClassificationResult.Behind)
{
return(false);
}
List <Vector3> centerAndCornerPoints = GetCenterAndCornerPoints();
if (plane.IsAnyPointOnPlane(centerAndCornerPoints))
{
return(true);
}
Vector3 closestPointInFront;
if (plane.GetClosestPointInFront(GetCenterAndCornerPoints(), out closestPointInFront))
{
return(plane.GetDistanceToPoint(closestPointInFront) <= allowedClosestDistance);
}
return(false);
}
public bool IntersectsBox(Box box)
{
// Store needed data
Vector3 boxCenter = box.Center;
float eX = box.Extents.x;
float eY = box.Extents.y;
float eZ = box.Extents.z;
// The triangle points expressed relative to the center of the box
Vector3 v0 = _points[0] - boxCenter;
Vector3 v1 = _points[1] - boxCenter;
Vector3 v2 = _points[2] - boxCenter;
// Triangle edges
Vector3 e0 = v1 - v0;
Vector3 e1 = v2 - v1;
Vector3 e2 = v0 - v2;
// Use the separating axis test for all 9 axes which result from crossing the box's local axes
// with the triangle esges.
// Test a00 = <1, 0, 0> X e0 = <0, -e0.z, e0.y>
Vector3 axis = new Vector3(0.0f, -e0.z, e0.y);
float v0Prj = Vector3.Dot(v0, axis);
float v1Prj = Vector3.Dot(v1, axis);
float v2Prj = Vector3.Dot(v2, axis);
float prjEx = Mathf.Abs(eY * axis.y) + Mathf.Abs(eZ * axis.z);
float minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
float maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a01 = <1, 0, 0> X e1 = <0, -e1.z, e1.y>
axis = new Vector3(0.0f, -e1.z, e1.y);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eY * axis.y) + Mathf.Abs(eZ * axis.z);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a02 = <1, 0, 0> X e2 = <0, -e2.z, e2.y>
axis = new Vector3(0.0f, -e2.z, e2.y);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eY * axis.y) + Mathf.Abs(eZ * axis.z);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a10 = <0, 1, 0> X e0 = <e0.z, 0, -e0.x>
axis = new Vector3(e0.z, 0.0f, -e0.x);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eX * axis.x) + Mathf.Abs(eZ * axis.z);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a11 = <0, 1, 0> X e1 = <e1.z, 0, -e1.x>
axis = new Vector3(e1.z, 0.0f, -e1.x);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eX * axis.x) + Mathf.Abs(eZ * axis.z);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a12 = <0, 1, 0> X e2 = <e2.z, 0, -e2.x>
axis = new Vector3(e2.z, 0.0f, -e2.x);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eX * axis.x) + Mathf.Abs(eZ * axis.z);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a20 = <0, 0, 1> X e0 = <-e0.y, e0.x, 0>
axis = new Vector3(-e0.y, e0.x, 0.0f);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eX * axis.x) + Mathf.Abs(eY * axis.y);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a21 = <0, 0, 1> X e1 = <-e1.y, e1.x, 0>
axis = new Vector3(-e1.y, e1.x, 0.0f);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eX * axis.x) + Mathf.Abs(eY * axis.y);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Test a22 = <0, 0, 1> X e2 = <-e2.y, e2.x, 0>
axis = new Vector3(-e2.y, e2.x, 0.0f);
v0Prj = Vector3.Dot(v0, axis);
v1Prj = Vector3.Dot(v1, axis);
v2Prj = Vector3.Dot(v2, axis);
prjEx = Mathf.Abs(eX * axis.x) + Mathf.Abs(eY * axis.y);
minPrj = MathfEx.Min(v0Prj, v1Prj, v2Prj);
maxPrj = MathfEx.Max(v0Prj, v1Prj, v2Prj);
if (Mathf.Max(-maxPrj, minPrj) > prjEx)
{
return(false);
}
// Check if the triangle's box intersects the box
Box trianlgeBox = GetEncapsulatingBox();
if (trianlgeBox.IntersectsBox(box, true))
{
return(true);
}
// Check if the box spans the triangle plane
BoxPlaneClassificationResult boxPlaneCalssifyResult = Plane.ClassifyBox(box);
return(boxPlaneCalssifyResult == BoxPlaneClassificationResult.Spanning || boxPlaneCalssifyResult == BoxPlaneClassificationResult.OnPlane);
}
