private static bool DetectCollision(ref BoundingBox agentBB,
Obstacle obst)
{
var objTrans = obst.Entity.Transform;
objTrans.UpdateWorldMatrix();
var objWorldPos = objTrans.WorldMatrix.TranslationVector;
foreach (var boundingBox in obst.BoundingBoxes)
{
var minVec = objWorldPos + boundingBox.Minimum;
var maxVec = objWorldPos + boundingBox.Maximum;
var testBB = new BoundingBox(minVec, maxVec);
if (CollisionHelper.BoxContainsBox(ref testBB, ref agentBB) != ContainmentType.Disjoint)
{
return(true);
}
}
return(false);
}
/* This implentation is wrong
* /// <summary>
* /// Determines whether the current objects contains a triangle.
* /// </summary>
* /// <param name="vertex1">The first vertex of the triangle to test.</param>
* /// <param name="vertex2">The second vertex of the triagnle to test.</param>
* /// <param name="vertex3">The third vertex of the triangle to test.</param>
* /// <returns>The type of containment the two objects have.</returns>
* public ContainmentType Contains(ref Vector3 vertex1, ref Vector3 vertex2, ref Vector3 vertex3)
* {
* return Collision.BoxContainsTriangle(ref this, ref vertex1, ref vertex2, ref vertex3);
* }
*/
/// <summary>
/// Determines whether the current objects contains a <see cref="Stride.Core.Mathematics.BoundingBoxInt3"/>.
/// </summary>
/// <param name="box">The box to test.</param>
/// <returns>The type of containment the two objects have.</returns>
public ContainmentType Contains(ref BoundingBoxInt3 box)
{
return(CollisionHelper.BoxContainsBox(ref this, ref box));
}